{"schema":"dvidia.reference-task-episode/v1","profile":"ur5e-2f85-rigid-block-task-v0.1","scope":"Authored native UR5e/Robotiq rigid-block manipulation, privileged state and synthetic commands. No shoe model, learned task policy, camera sensing, calibrated contact or physical qualification.","physical_robot_ready":false,"seed":521050,"control":"placement","config":{"timestep":0.001,"control_dt":0.02,"timeout_s":20.0,"settle_s":0.5,"object_position_m":[-0.12546270190646733,0.47731244649527643,0.302],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"object_half_size_m":[0.02,0.02,0.02],"mass_kg":0.04,"friction":0.8,"table_top_m":0.28,"table_center_xy_m":[0.0,0.55],"table_half_size_xy_m":[0.32,0.26],"table_thickness_m":0.04,"goal_position_tolerance_m":0.025,"goal_dwell_s":0.25,"min_lift_m":0.06,"min_lift_dwell_s":0.1,"retreat_clearance_m":0.1,"joint_target_rate_rad_s":1.5,"jaw_target_rate_0_255_s":500.0,"tool_orientation_wxyz":[0.0,0.7071067811865476,0.7071067811865476,0.0]},"timestep_seconds":0.001,"simulated_seconds":20.00000000000146,"valid":true,"success":true,"reason":"success","error":null,"warnings":[],"trajectory":[{"t_seconds":0.0,"qpos":[-1.5708000000511324,-1.570799990938527,1.5708000088964793,-1.5707999927933878,-1.5708000000048468,7.524807652725732e-15,0.00291317864001224,0.0001563126029926126,0.0031731397940502125,-0.0034099014377596193,0.002913178482296667,0.00015631196605883329,0.00317750993502428,-0.0034186004966813505,-0.12546279446803538,0.477312447734353,0.2998922445174839,1.0,7.069493280021934e-16,5.2786546595008636e-14,1.8636087574992086e-18],"qvel":[3.635602907460618e-10,-3.789044671296143e-08,-3.670305057552976e-08,-2.9650023455897522e-08,2.5731377520640853e-11,-5.657149357361164e-14,0.0002043283573636655,-1.0940612711955913e-07,0.0002033997252470418,-0.00019397885083774708,0.00020432835815452078,-1.0939915054397899e-07,0.0002033966494123157,-0.00019396501347079104,-8.076942975960323e-14,1.0822756905016896e-15,2.3616437249114905e-09,-5.4239084695934086e-14,-4.0433406461571515e-12,4.098784695175507e-29],"joint_position_rad":[-1.5708000000511324,-1.570799990938527,1.5708000088964793,-1.5707999927933878,-1.5708000000048468,7.524807652725732e-15],"joint_velocity_rad_s":[3.635602907460618e-10,-3.789044671296143e-08,-3.670305057552976e-08,-2.9650023455897522e-08,2.5731377520640853e-11,-5.657149357361164e-14],"linkage_position_rad":[0.00291317864001224,0.0001563126029926126,0.0031731397940502125,-0.0034099014377596193,0.002913178482296667,0.00015631196605883329,0.00317750993502428,-0.0034186004966813505],"tcp_position_m":[-0.1339972531522152,0.4919998681166263,0.3322003577651117],"tcp_quaternion_wxyz":[8.903484650349e-09,0.707108079877554,0.7071054824884175,2.588452917498292e-06],"object_position_m":[-0.12546279446803538,0.477312447734353,0.2998922445174839],"object_quaternion_wxyz":[1.0,7.069493280021934e-16,5.2786546595008636e-14,1.8636087574992086e-18],"object_linear_velocity_m_s":[-8.076942975960323e-14,1.0822756905016896e-15,2.3616437249114905e-09],"object_angular_velocity_rad_s":[-5.4239084695934074e-14,-4.0433406461571515e-12,5.0301884727337746e-29],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313699313774798,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5708,-1.5812686929742095,1.560331229489481,-1.5756272782276017,-1.5707985386069219,4.452682438512985e-12,0.0],"actuator_force":[-4.3159161577932537e-08,-20.937388915186148,-20.93754413277611,-2.4136397521047,0.0007306963891551277,2.228235964787491e-09,-0.2933611396930363],"issued_joint_targets_rad":[-1.57395476895268,-1.5782068270315737,1.5330932900466574,-1.525876888215949,-1.570792442903965,-0.003151182539434695],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.0,"joint_targets_rad":[-1.57395476895268,-1.5782068270315737,1.5330932900466574,-1.525876888215949,-1.570792442903965,-0.003151182539434695],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.02000000000000001,"qpos":[-1.5710716056412137,-1.5710971028009284,1.5695823562397717,-1.569280590216264,-1.57078767058129,-0.0002791551234623055,0.0029343244942593326,0.0001594772219150905,0.003183770289581421,-0.0034447993984702196,0.002933984136242719,0.00015719712254736403,0.003180929296306707,-0.003452827771943284,-0.12546279446803651,0.477312447734353,0.29989224455018243,1.0,3.31725475393066e-16,2.4892078944580884e-14,1.8636087575024934e-18],"qvel":[-0.014989836090438528,-0.020689883997646003,-0.12856195173113208,0.14341907809374402,-0.00011331397256410376,-0.014505647729319785,0.0009795064848767408,0.00010301105921644408,0.0009447719586543253,-0.0010653147525471894,0.0009686137184399076,-3.033630339057663e-05,0.00028827592760243616,-0.00145762554702383,-3.808915247600785e-14,5.105902144841502e-16,1.1221197900297985e-09,-2.5580591742333227e-14,-1.9067969747937067e-12,3.8087616217269097e-28],"joint_position_rad":[-1.5710716056412137,-1.5710971028009284,1.5695823562397717,-1.569280590216264,-1.57078767058129,-0.0002791551234623055],"joint_velocity_rad_s":[-0.014989836090438528,-0.020689883997646003,-0.12856195173113208,0.14341907809374402,-0.00011331397256410376,-0.014505647729319785],"linkage_position_rad":[0.0029343244942593326,0.0001594772219150905,0.003183770289581421,-0.0034447993984702196,0.002933984136242719,0.00015719712254736403,0.003180929296306707,-0.003452827771943284],"tcp_position_m":[-0.13386680737387308,0.4919083365771824,0.33279366220879886],"tcp_quaternion_wxyz":[-2.7113549676642308e-06,0.7071054107090969,0.7071081516479222,-3.409706203117052e-06],"object_position_m":[-0.12546279446803651,0.477312447734353,0.29989224455018243],"object_quaternion_wxyz":[1.0,3.31725475393066e-16,2.4892078944580884e-14,1.8636087575024934e-18],"object_linear_velocity_m_s":[-3.808915247600785e-14,5.105902144841502e-16,1.1221197900297985e-09],"object_angular_velocity_rad_s":[-2.558059174233322e-14,-1.9067969747937067e-12,3.8931811448819087e-28],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313830896756733,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5739525107455092,-1.5886769834133976,1.5303321159089074,-1.5456244392188074,-1.5707908691867214,-0.003151183746756504,0.0],"actuator_force":[0.23412422758428875,-26.883807625879854,-27.07569996927623,-2.513832310646194,0.009732094540709113,0.014550461284879246,-0.3031560325416858],"issued_joint_targets_rad":[-1.5741934325812845,-1.5784320150863114,1.5317993929360456,-1.5243580009058926,-1.5707922940977375,-0.003389936858995906],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5741934325812845,-1.5784320150863114,1.5317993929360456,-1.5243580009058926,-1.5707922940977375,-0.003389936858995906],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.04000000000000003,"qpos":[-1.5713845722639532,-1.571641906743528,1.56619269321152,-1.5653921928867507,-1.5707881695958268,-0.0005762167758528381,0.0029412581845425227,0.00015724421175585744,0.0031983487823154582,-0.0034413429051457353,0.00294120409331259,0.00015705331313207207,0.0032017159580132013,-0.003450648151074689,-0.12546279446803707,0.477312447734353,0.29989224456577385,1.0,1.5671085231956434e-16,1.166453614798847e-14,1.863608757450878e-18],"qvel":[-0.014904170912878758,-0.03370751105662559,-0.17374178986190436,0.20694805868086286,-0.0001660369526515576,-0.014210648691384727,-0.00010902986982688831,-0.00016499464993050724,0.000368692897398799,0.0009035398988323899,-8.346612164720951e-05,-6.484978100238528e-05,0.0006841133155564281,0.0008597528719021884,-1.7932964616466198e-14,2.585971320566324e-16,5.591249448418401e-10,-1.1217965959191702e-14,-9.688057110424532e-13,-5.143736921663057e-26],"joint_position_rad":[-1.5713845722639532,-1.571641906743528,1.56619269321152,-1.5653921928867507,-1.5707881695958268,-0.0005762167758528381],"joint_velocity_rad_s":[-0.014904170912878758,-0.03370751105662559,-0.17374178986190436,0.20694805868086286,-0.0001660369526515576,-0.014210648691384727],"linkage_position_rad":[0.0029412581845425227,0.00015724421175585744,0.0031983487823154582,-0.0034413429051457353,0.00294120409331259,0.00015705331313207207,0.0032017159580132013,-0.003450648151074689],"tcp_position_m":[-0.13371285471186162,0.4917250808882053,0.33434043742523156],"tcp_quaternion_wxyz":[-1.8814455586689288e-05,0.7071110337085178,0.7071025282679966,1.3065005049105737e-05],"object_position_m":[-0.12546279446803707,0.477312447734353,0.29989224456577385],"object_quaternion_wxyz":[1.0,1.5671085231956434e-16,1.166453614798847e-14,1.863608757450878e-18],"object_linear_velocity_m_s":[-1.7932964616466198e-14,2.585971320566324e-16,5.591249448418401e-10],"object_angular_velocity_rad_s":[-1.1217965959191699e-14,-9.688057110424532e-13,-5.147930921517383e-26],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313530770667439,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.574188717482388,-1.5888990013104034,1.521332675147506,-1.5291793719555478,-1.5707906540131558,-0.003389939342982472,0.0],"actuator_force":[0.3533779282820433,-21.03118471110065,-20.22332018326597,-2.588395402484821,0.015361486600681928,0.01420358557365553,-0.29316063393538516],"issued_joint_targets_rad":[-1.574502221729708,-1.5788047125944582,1.5282242274067193,-1.520410917272036,-1.5707920424529964,-0.003698699324337035],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.574502221729708,-1.5788047125944582,1.5282242274067193,-1.520410917272036,-1.5707920424529964,-0.003698699324337035],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.060000000000000046,"qpos":[-1.5716843520939663,-1.5723189230575882,1.562586116188757,-1.5611118440775555,-1.5707890745228346,-0.0008740735928838043,0.002940076104141931,0.00015619506880497417,0.003200170679398885,-0.0034349541478339903,0.0029401161602528036,0.00015637647769785654,0.0032050179592307024,-0.003443895479252024,-0.12546279446803627,0.477312447734353,0.29989224457377606,1.0,3.7933111048077487e-16,-3.485897682740883e-14,1.8636086911555796e-18],"qvel":[-0.014365284863911976,-0.03447653458951137,-0.1745585605131329,0.20485667297172772,-9.359070015425169e-05,-0.014266393221613487,-0.0001731042701591874,-3.580334512865927e-05,-2.779307414232278e-05,0.0003491334446774275,-0.0001692191992386512,-2.0627092873704594e-05,2.20404040847872e-05,0.00034576844179710366,1.8321024231233074e-13,1.5980761967831118e-15,2.86131827840932e-10,1.0282728535659409e-13,-1.459112251439292e-11,-2.4397340864321454e-23],"joint_position_rad":[-1.5716843520939663,-1.5723189230575882,1.562586116188757,-1.5611118440775555,-1.5707890745228346,-0.0008740735928838043],"joint_velocity_rad_s":[-0.014365284863911976,-0.03447653458951137,-0.1745585605131329,0.20485667297172772,-9.359070015425169e-05,-0.014266393221613487],"linkage_position_rad":[0.002940076104141931,0.00015619506880497417,0.003200170679398885,-0.0034349541478339903,0.0029401161602528036,0.00015637647769785654,0.0032050179592307024,-0.003443895479252024],"tcp_position_m":[-0.13356547405960797,0.49146549487691343,0.3360195401398631],"tcp_quaternion_wxyz":[-1.9636431547555255e-05,0.7071117135693595,0.7071018483472157,1.4538408536352807e-05],"object_position_m":[-0.12546279446803627,0.477312447734353,0.29989224457377606],"object_quaternion_wxyz":[1.0,3.7933111048077487e-16,-3.485897682740883e-14,1.8636086911555796e-18],"object_linear_velocity_m_s":[1.8321024231233074e-13,1.5980761967831118e-15,2.86131827840932e-10],"object_angular_velocity_rad_s":[1.0282728535659414e-13,-1.459112251439292e-11,-2.4401241689819604e-23],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313443969899979,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5744974243873604,-1.5892573562150814,1.517757871737131,-1.5252321258084882,-1.5707904092863372,-0.0036987018561239794,0.0],"actuator_force":[0.11996935877687065,-20.08625247918144,-19.83306469799936,-2.545808162639105,0.008691688264207187,0.014325190541261135,-0.2922979958727475],"issued_joint_targets_rad":[-1.5748052321098012,-1.5792992502074619,1.5244278489076455,-1.5161206501007178,-1.5707919244941064,-0.004001698020276947],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5748052321098012,-1.5792992502074619,1.5244278489076455,-1.5161206501007178,-1.5707919244941064,-0.004001698020276947],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.08000000000000006,"qpos":[-1.5719813756278784,-1.5729882058099096,1.5589598409232357,-1.5568376304205953,-1.5707893829179247,-0.001172454584896581,0.0029388330583581222,0.00015615795216002707,0.003199287978241189,-0.003433668893955552,0.002938861000622684,0.00015633505035097086,0.003204236371982966,-0.0034423903783283136,-0.12546279446792064,0.47731244773435383,0.2998922445776863,1.0,2.943362598454613e-14,-3.8181960093091594e-12,1.8635988973690745e-18],"qvel":[-0.014366630505893666,-0.03371019032174615,-0.175470104547068,0.20490886464748984,-8.667604558633367e-05,-0.01428975840684568,-0.00016446551821802088,-2.687118371464844e-05,-5.666795046063403e-05,0.000298628708191082,-0.00015954220469169267,-1.0808917925330532e-05,-1.5949299037139895e-05,0.000270915391346474,5.872818702665061e-12,4.5279669428187244e-14,1.1375781694261914e-10,1.60693440004927e-12,-2.0927055344708783e-10,-7.51759282903538e-22],"joint_position_rad":[-1.5719813756278784,-1.5729882058099096,1.5589598409232357,-1.5568376304205953,-1.5707893829179247,-0.001172454584896581],"joint_velocity_rad_s":[-0.014366630505893666,-0.03371019032174615,-0.175470104547068,0.20490886464748984,-8.667604558633367e-05,-0.01428975840684568],"linkage_position_rad":[0.0029388330583581222,0.00015615795216002707,0.003199287978241189,-0.003433668893955552,0.002938861000622684,0.00015633505035097086,0.003204236371982966,-0.0034423903783283136],"tcp_position_m":[-0.133419766781748,0.4912061557479425,0.33770488522851205],"tcp_quaternion_wxyz":[-2.706041059993633e-05,0.7071112333928462,0.707102328085665,2.2208420442764867e-05],"object_position_m":[-0.12546279446792064,0.47731244773435383,0.2998922445776863],"object_quaternion_wxyz":[1.0,2.943362598454613e-14,-3.8181960093091594e-12,1.8635988973690745e-18],"object_linear_velocity_m_s":[5.872818702665061e-12,4.5279669428187244e-14,1.1375781694261914e-10],"object_angular_velocity_rad_s":[1.6069344000492708e-12,-2.0927055344708783e-10,-7.518072842760396e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313447354795912,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.574800428707688,-1.5897373081869415,1.5139619276521274,-1.5209418939560349,-1.5707902923393964,-0.0040017005247042926,0.0],"actuator_force":[0.1085460427379985,-20.014128625365174,-19.80778472338943,-2.5430182324687394,0.008212893822815204,0.014352870780712124,-0.2922646643344917],"issued_joint_targets_rad":[-1.5751060242651538,-1.5797752346221186,1.5205960764092596,-1.5118136573187562,-1.5707917357633376,-0.0043024847505832384],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5751060242651538,-1.5797752346221186,1.5205960764092596,-1.5118136573187562,-1.5707917357633376,-0.0043024847505832384],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.10000000000000007,"qpos":[-1.5722785877156877,-1.573639718243256,1.55531407339541,-1.5525606239899097,-1.5707896244383739,-0.00147107668722488,0.0029377927645487124,0.00015615628911367044,0.003198289184914322,-0.003432688352087004,0.0029378203061992667,0.00015633693658106398,0.0032032585849738936,-0.0034414022659483134,-0.12546279446759948,0.4773124477343564,0.2998922445790891,1.0,8.302141801389413e-14,-1.0783402060625652e-11,1.863572549426373e-18],"qvel":[-0.014385734552821444,-0.03282460665371057,-0.17641040014353737,0.20505777499315891,-8.417023856488787e-05,-0.014300694032547771,-0.00015460891001101233,-2.7089464557901432e-05,-5.070955650498062e-05,0.0002915147351843745,-0.00014944568488157726,-1.0602078082039948e-05,-9.601878975871212e-06,0.00026214268905588644,1.3660865572809449e-11,1.0518357097450848e-13,3.882858745491115e-11,6.66065129039223e-13,-8.677180752097067e-11,-1.3662778546753658e-21],"joint_position_rad":[-1.5722785877156877,-1.573639718243256,1.55531407339541,-1.5525606239899097,-1.5707896244383739,-0.00147107668722488],"joint_velocity_rad_s":[-0.014385734552821444,-0.03282460665371057,-0.17641040014353737,0.20505777499315891,-8.417023856488787e-05,-0.014300694032547771],"linkage_position_rad":[0.0029377927645487124,0.00015615628911367044,0.003198289184914322,-0.003432688352087004,0.0029378203061992667,0.00015633693658106398,0.0032032585849738936,-0.0034414022659483134],"tcp_position_m":[-0.13327414983315436,0.49094683266076766,0.33939052791688584],"tcp_quaternion_wxyz":[-3.412545995161732e-05,0.7071107345736266,0.7071028263393678,2.9480097452762517e-05],"object_position_m":[-0.12546279446759948,0.4773124477343564,0.2998922445790891],"object_quaternion_wxyz":[1.0,8.302141801389413e-14,-1.0783402060625652e-11,1.863572549426373e-18],"object_linear_velocity_m_s":[1.3660865572809449e-11,1.0518357097450848e-13,3.882858745491115e-11],"object_angular_velocity_rad_s":[6.660651290392233e-13,-8.677180752097067e-11,-1.3663207955134203e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313456102973589,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5751012202923713,-1.5901988946616328,1.5101307564562578,-1.516634941427673,-1.5707901044262502,-0.004302487226153776,0.0],"actuator_force":[0.10902866776132214,-19.988510175268857,-19.802473820889645,-2.5429362181974966,0.008177029918329026,0.014364133790329081,-0.29226038056293596],"issued_joint_targets_rad":[-1.5754070159359739,-1.580233878250257,1.5167450820561321,-1.5075047834417108,-1.5707915497611769,-0.004603471071038292],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5754070159359739,-1.580233878250257,1.5167450820561321,-1.5075047834417108,-1.5707915497611769,-0.004603471071038292],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.12000000000000009,"qpos":[-1.57257615587946,-1.5742728542268403,1.5516488836049662,-1.54828059655002,-1.5707898234244613,-0.0017699244901217632,0.002936937270492626,0.00015615494999053175,0.0031974442825193784,-0.0034318732715952665,0.0029369651844673435,0.00015633881736977267,0.0032024271500214275,-0.003440584547709244,-0.1254627944671554,0.47731244773435993,0.2998922445795568,1.0,1.211681583245484e-13,-1.5739622637251685e-11,1.863539609432876e-18],"qvel":[-0.014406043192040679,-0.03193659515226148,-0.17734622192549146,0.20520265720098002,-8.219510323537832e-05,-0.014311495087037334,-0.00014612408601205718,-2.712460256228279e-05,-4.191710543614132e-05,0.00028350258877244577,-0.00014090077682019013,-1.0387206544575797e-05,9.955102940174818e-08,0.0002543155249234669,2.1614499897491862e-11,1.6639772949431554e-13,1.3144751841056695e-11,8.237157896753871e-13,-1.070345880395247e-10,-2.4815772721683338e-21],"joint_position_rad":[-1.57257615587946,-1.5742728542268403,1.5516488836049662,-1.54828059655002,-1.5707898234244613,-0.0017699244901217632],"joint_velocity_rad_s":[-0.014406043192040679,-0.03193659515226148,-0.17734622192549146,0.20520265720098002,-8.219510323537832e-05,-0.014311495087037334],"linkage_position_rad":[0.002936937270492626,0.00015615494999053175,0.0031974442825193784,-0.0034318732715952665,0.0029369651844673435,0.00015633881736977267,0.0032024271500214275,-0.003440584547709244],"tcp_position_m":[-0.13312853487270332,0.49068757207716623,0.34107609716426496],"tcp_quaternion_wxyz":[-4.050413570116849e-05,0.7071102818170869,0.7071032784600781,3.604141018451906e-05],"object_position_m":[-0.1254627944671554,0.47731244773435993,0.2998922445795568],"object_quaternion_wxyz":[1.0,1.211681583245484e-13,-1.5739622637251685e-11,1.863539609432876e-18],"object_linear_velocity_m_s":[2.1614499897491862e-11,1.6639772949431554e-13,1.3144751841056695e-11],"object_angular_velocity_rad_s":[8.237157896753875e-13,-1.070345880395247e-10,-2.4815856886082128e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313463651690172,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5754022117682893,-1.5906433542125442,1.506280536750546,-1.5123261014837543,-1.5707899190919825,-0.004603473520398991,0.0],"actuator_force":[0.11030549915767551,-19.96636191050311,-19.798204938643266,-2.5430181869652415,0.008171676562938046,0.01437499356511962,-0.2922599984338372],"issued_joint_targets_rad":[-1.5757083397895266,-1.5806751298509685,1.51287570139868,-1.5031949098401773,-1.5707913699873406,-0.004904789311878566],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.5757083397895266,-1.5806751298509685,1.51287570139868,-1.5031949098401773,-1.5707913699873406,-0.004904789311878566],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.1400000000000001,"qpos":[-1.5728740882477266,-1.5748876675327117,1.5479643769648486,-1.5439977215651297,-1.570789985869754,-0.0020690075451766884,0.002936235903170686,0.00015615409174409963,0.0031967510523613647,-0.003431206404943637,0.0029362641616049352,0.00015634105363681837,0.0032017465364560832,-0.0034399146195881894,-0.12546279446664954,0.47731244773436377,0.2998922445797105,1.0,1.3846492737136164e-13,-1.7985300593641368e-11,1.8635041198373428e-18],"qvel":[-0.014426294819206804,-0.031052830371067264,-0.1782770822986822,0.20533832489975465,-8.045512105849321e-05,-0.014322784244039223,-0.00013914674030517823,-2.7208116005183e-05,-3.435318588128454e-05,0.00027704214024977167,-0.00013386140678555369,-1.0200668344092669e-05,8.676607985784572e-06,0.0002479464943344334,2.9071028630118314e-11,2.2382733536675933e-13,4.422095910174966e-12,2.924088956868728e-12,-3.796440302101173e-10,-4.551029010298375e-21],"joint_position_rad":[-1.5728740882477266,-1.5748876675327117,1.5479643769648486,-1.5439977215651297,-1.570789985869754,-0.0020690075451766884],"joint_velocity_rad_s":[-0.014426294819206804,-0.031052830371067264,-0.1782770822986822,0.20533832489975465,-8.045512105849321e-05,-0.014322784244039223],"linkage_position_rad":[0.002936235903170686,0.00015615409174409963,0.0031967510523613647,-0.003431206404943637,0.0029362641616049352,0.00015634105363681837,0.0032017465364560832,-0.0034399146195881894],"tcp_position_m":[-0.13298291660966985,0.49042837928181776,0.3427615684023537],"tcp_quaternion_wxyz":[-4.623792745789158e-05,0.70710987463606,0.7071036849681347,4.1937027508467396e-05],"object_position_m":[-0.12546279446664954,0.47731244773436377,0.2998922445797105],"object_quaternion_wxyz":[1.0,1.3846492737136164e-13,-1.7985300593641368e-11,1.8635041198373428e-18],"object_linear_velocity_m_s":[2.9071028630118314e-11,2.2382733536675933e-13,4.422095910174966e-12],"object_angular_velocity_rad_s":[2.92408895686873e-12,-3.796440302101173e-10,-4.550982538734742e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313469843047385,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5757035354570275,-1.59107063552751,1.502412104415453,-1.5080162553422851,-1.5707897398584527,-0.0049047917376988295,0.0],"actuator_force":[0.11162350908080043,-19.944803841169687,-19.793712179317936,-2.5430993785531655,0.008168517756416804,0.014386328142851568,-0.2922599625033274],"issued_joint_targets_rad":[-1.5760100040239404,-1.5810989719220325,1.5089879225947562,-1.4988840430428538,-1.5707911960133834,-0.005206447677481638],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.5760100040239404,-1.5810989719220325,1.5089879225947562,-1.4988840430428538,-1.5707911960133834,-0.005206447677481638],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.16000000000000011,"qpos":[-1.5731723827087039,-1.575484244160846,1.544260642628679,-1.5397121760275354,-1.5707901159170938,-0.0023683358659448627,0.002935660976828925,0.00015615320799453167,0.0031961835656915036,-0.0034306596655391927,0.002935689578987983,0.0001563432570455006,0.0032011915546993988,-0.0034393649002203044,-0.12546279446612435,0.4773124477343679,0.29989224457976055,1.0,1.3900618510012228e-13,-1.8052485021935403e-11,1.8634681737049002e-18],"qvel":[-0.014446419891061662,-0.030173263819130203,-0.17920370392167112,0.20546553048955005,-7.890899610498223e-05,-0.014334552527637967,-0.00013343352944776378,-2.7298037603017825e-05,-2.80220422161927e-05,0.00027181221461548247,-0.00012808594184168272,-1.0020600911201275e-05,1.6028567442135153e-05,0.00024281225346907406,3.7731901125667405e-11,2.905984520656686e-13,1.4732894333980995e-12,7.232808767855765e-12,-9.384323396317567e-10,-8.337144997229258e-21],"joint_position_rad":[-1.5731723827087039,-1.575484244160846,1.544260642628679,-1.5397121760275354,-1.5707901159170938,-0.0023683358659448627],"joint_velocity_rad_s":[-0.014446419891061662,-0.030173263819130203,-0.17920370392167112,0.20546553048955005,-7.890899610498223e-05,-0.014334552527637967],"linkage_position_rad":[0.002935660976828925,0.00015615320799453167,0.0031961835656915036,-0.0034306596655391927,0.002935689578987983,0.0001563432570455006,0.0032011915546993988,-0.0034393649002203044],"tcp_position_m":[-0.13283729525067925,0.49016925767178543,0.3444469406871812],"tcp_quaternion_wxyz":[-5.138727476876904e-05,0.7071095087550073,0.7071040501630427,4.7229447232487926e-05],"object_position_m":[-0.12546279446612435,0.4773124477343679,0.29989224457976055],"object_quaternion_wxyz":[1.0,1.3900618510012228e-13,-1.8052485021935403e-11,1.8634681737049002e-18],"object_linear_velocity_m_s":[3.7731901125667405e-11,2.905984520656686e-13,1.4732894333980995e-12],"object_angular_velocity_rad_s":[7.2328087678557685e-12,-9.384323396317567e-10,-8.336900452346364e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313474886581946,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.576005199529905,-1.5914807194529887,1.498525447565231,-1.503705410073493,-1.570789566311826,-0.005206450082194064,0.0],"actuator_force":[0.1129343140223682,-19.923645056633177,-19.788908558227376,-2.5431700719339005,0.008165702244355089,0.014398144639196087,-0.29225993043439813],"issued_joint_targets_rad":[-1.5763120086068505,-1.5815053862603863,1.5050816721727136,-1.4945721289688865,-1.5707910272064594,-0.005508446161118228],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.5763120086068505,-1.5815053862603863,1.5050816721727136,-1.4945721289688865,-1.5707910272064594,-0.005508446161118228],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.18000000000000013,"qpos":[-1.5734710367080587,-1.5760626626578893,1.5405377539185663,-1.5354241161117703,-1.5707902171711339,-0.0026679185445748015,0.002935189676007827,0.00015615227537812504,0.00319571925695249,-0.0034302112758097044,0.0029352186192851426,0.00015634539491512722,0.0032007396738781397,-0.0034389135428207237,-0.12546279446561567,0.4773124477343718,0.29989224457977665,1.0,1.2351107035337593e-13,-1.6037142147127392e-11,1.8634365386940017e-18],"qvel":[-0.014466425531183963,-0.02929743283998717,-0.1801268409221955,0.20558532808283025,-7.75341239024116e-05,-0.014346753989899645,-0.00012875709117674778,-2.738754511692387e-05,-2.271283411858458e-05,0.00026756809341733375,-0.00012334709241780797,-9.839326100928518e-06,2.2362297775298536e-05,0.0002386648893857831,1.9463621885999613e-11,1.4989484080006376e-13,4.164070739910586e-13,-5.1517439936132455e-12,6.690441941084598e-10,-9.036102823509897e-22],"joint_position_rad":[-1.5734710367080587,-1.5760626626578893,1.5405377539185663,-1.5354241161117703,-1.5707902171711339,-0.0026679185445748015],"joint_velocity_rad_s":[-0.014466425531183963,-0.02929743283998717,-0.1801268409221955,0.20558532808283025,-7.75341239024116e-05,-0.014346753989899645],"linkage_position_rad":[0.002935189676007827,0.00015615227537812504,0.00319571925695249,-0.0034302112758097044,0.0029352186192851426,0.00015634539491512722,0.0032007396738781397,-0.0034389135428207237],"tcp_position_m":[-0.1326916713500124,0.48991021059330664,0.3461322145826127],"tcp_quaternion_wxyz":[-5.6008347709708184e-05,0.7071091800647117,0.7071043781717837,5.197663843098394e-05],"object_position_m":[-0.12546279446561567,0.4773124477343718,0.29989224457977665],"object_quaternion_wxyz":[1.0,1.2351107035337593e-13,-1.6037142147127392e-11,1.8634365386940017e-18],"object_linear_velocity_m_s":[1.9463621885999613e-11,1.4989484080006376e-13,4.164070739910586e-13],"object_angular_velocity_rad_s":[-5.151743993613248e-12,6.690441941084598e-10,-9.03580054757265e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313478986426076,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.576307203949267,-1.5918735862150262,1.4946204926746312,-1.499393512130359,-1.5707893978319805,-0.0055084485469243764,0.0],"actuator_force":[0.11423573005686194,-19.90287397827842,-19.78378611899234,-2.5432308175774097,0.008163081966927166,0.014410397815177056,-0.29225989384667567],"issued_joint_targets_rad":[-1.5766143529343273,-1.5818943533673113,1.5011568705234837,-1.4902591086215435,-1.57079086297597,-0.00581078418320375],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.5766143529343273,-1.5818943533673113,1.5011568705234837,-1.4902591086215435,-1.57079086297597,-0.00581078418320375],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.20000000000000015,"qpos":[-1.573770047878304,-1.5766229922580546,1.5367957695286592,-1.531133677476765,-1.5707902928293196,-0.0029677637488466036,0.00293480329901791,0.00015615130298056662,0.00319533952754991,-0.0034298434886200716,0.002934832580875228,0.00015634747839750112,0.0032003723085609584,-0.003438542795905262,-0.12546279446501263,0.4773124477343764,0.29989224457978175,1.0,1.3435991591490994e-13,-1.7444043091652275e-11,1.8633788457163166e-18],"qvel":[-0.014486322593015783,-0.028424885736668303,-0.18104719126783303,0.20569869974374047,-7.631131331561348e-05,-0.014359344448208975,-0.00012493052934017934,-2.7476735333168358e-05,-1.8241475701478548e-05,0.00026413313487337343,-0.0001194578934625551,-9.656722533519323e-06,2.7861871994410692e-05,0.00023532673787041223,2.1476265747903098e-11,1.6541246682768795e-13,1.283805269337734e-13,-4.656848358910832e-12,6.046599785779443e-10,-1.6487599775827283e-21],"joint_position_rad":[-1.573770047878304,-1.5766229922580546,1.5367957695286592,-1.531133677476765,-1.5707902928293196,-0.0029677637488466036],"joint_velocity_rad_s":[-0.014486322593015783,-0.028424885736668303,-0.18104719126783303,0.20569869974374047,-7.631131331561348e-05,-0.014359344448208975],"linkage_position_rad":[0.00293480329901791,0.00015615130298056662,0.00319533952754991,-0.0034298434886200716,0.002934832580875228,0.00015634747839750112,0.0032003723085609584,-0.003438542795905262],"tcp_position_m":[-0.13254604546713442,0.48965124148881495,0.3478173907019223],"tcp_quaternion_wxyz":[-6.0152034023422666e-05,0.7071088848465281,0.7071046727259656,5.6231102571008176e-05],"object_position_m":[-0.12546279446501263,0.4773124477343764,0.29989224457978175],"object_quaternion_wxyz":[1.0,1.3435991591490994e-13,-1.7444043091652275e-11,1.8633788457163166e-18],"object_linear_velocity_m_s":[2.1476265747903098e-11,1.6541246682768795e-13,1.283805269337734e-13],"object_angular_velocity_rad_s":[-4.656848358910834e-12,6.046599785779443e-10,-1.6487443767133022e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313482312553155,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.576609548107635,-1.592249214918886,1.490697160094251,-1.4950805030009864,-1.5707892338396274,-0.005810786552095237,0.0],"actuator_force":[0.11552857854439935,-19.882491026995467,-19.77834236168337,-2.543282736484798,0.008160626177641461,0.014423043196580831,-0.29225985188064324],"issued_joint_targets_rad":[-1.5769170363377916,-1.5822658523675752,1.4972134354963418,-1.4859449217482399,-1.5707907027845194,-0.006113461097133614],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5769170363377916,-1.5822658523675752,1.4972134354963418,-1.4859449217482399,-1.5707907027845194,-0.006113461097133614],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.22000000000000017,"qpos":[-1.5740694140534472,-1.5771652934883524,1.5330347347021926,-1.526840977030087,-1.5707903457310641,-0.003267878801944626,0.00293448651821041,0.0001561502978806895,0.0031950291229529493,-0.0034295417519146516,0.002934516136481769,0.0001563495171222729,0.003200074214725377,-0.003438238106901361,-0.12546279446441866,0.47731244773438103,0.2998922445797833,1.0,1.4223958114804546e-13,-1.8465813061658484e-11,1.863313218214217e-18],"qvel":[-0.01450612088518664,-0.027555206305613027,-0.18196539701443926,0.20580653967069487,-7.522352280007653e-05,-0.014372283646857208,-0.00012180058010829578,-2.7565686539342592e-05,-1.4455487606708006e-05,0.00026136189902258624,-0.00011626507726235747,-9.472854254715954e-06,3.267979657466813e-05,0.0002326524217310977,2.3603615410552612e-11,1.8181403391401328e-13,3.855376979013275e-14,-3.521457818585851e-12,4.57242840287737e-10,-3.0176813874991197e-21],"joint_position_rad":[-1.5740694140534472,-1.5771652934883524,1.5330347347021926,-1.526840977030087,-1.5707903457310641,-0.003267878801944626],"joint_velocity_rad_s":[-0.01450612088518664,-0.027555206305613027,-0.18196539701443926,0.20580653967069487,-7.522352280007653e-05,-0.014372283646857208],"linkage_position_rad":[0.00293448651821041,0.0001561502978806895,0.0031950291229529493,-0.0034295417519146516,0.002934516136481769,0.0001563495171222729,0.003200074214725377,-0.003438238106901361],"tcp_position_m":[-0.13240041814702366,0.48939235391355657,0.34950246961578846],"tcp_quaternion_wxyz":[-6.386434996665266e-05,0.7071086197498597,0.7071049371853897,6.004030608974315e-05],"object_position_m":[-0.12546279446441866,0.47731244773438103,0.2998922445797833],"object_quaternion_wxyz":[1.0,1.4223958114804546e-13,-1.8465813061658484e-11,1.863313218214217e-18],"object_linear_velocity_m_s":[2.3603615410552612e-11,1.8181403391401328e-13,3.855376979013275e-14],"object_angular_velocity_rad_s":[-3.5214578185858527e-12,4.57242840287737e-10,-3.017658490893223e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485004416726,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5769122313332629,-1.592607583460029,1.4867553676472265,-1.4907663228705144,-1.5707890738074397,-0.0061134634509122585,0.0],"actuator_force":[0.11681379444371487,-19.862497421107946,-19.772575304156817,-2.543326887283115,0.008158314092270302,0.01443604020190481,-0.2922598044477557],"issued_joint_targets_rad":[-1.5772200581124016,-1.5826198609792035,1.4932512825777509,-1.4816295070571763,-1.5707905461437328,-0.00641647621786614],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.5772200581124016,-1.5826198609792035,1.4932512825777509,-1.4816295070571763,-1.5707905461437328,-0.00641647621786614],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.24000000000000019,"qpos":[-1.5743691332449907,-1.5776896188659622,1.5292546822948323,-1.522546114619757,-1.5707903783970802,-0.003568270259596111,0.002934226771925562,0.0001561492659269031,0.0031947755410107865,-0.0034292941398766045,0.0029342567247726565,0.000156351519227029,0.00319983289954034,-0.0034379875490588062,-0.12546279446383868,0.4773124477343855,0.29989224457978353,1.0,1.4651274515421903e-13,-1.9020137856772696e-11,1.8632402802866903e-18],"qvel":[-0.014525828968700465,-0.026688012005382723,-0.18288204960596252,0.20590966122324672,-7.425556948644713e-05,-0.014385535012422308,-0.00011924162549601495,-2.7654468000174912e-05,-1.1229765420423099e-05,0.00025913513668421605,-0.00011364302140774076,-9.287768458583753e-06,3.694124853671273e-05,0.00023052270707491564,2.6317620827803494e-11,2.0272152500168813e-13,1.3193500350132616e-14,-1.560976076835724e-12,2.0266147915686155e-10,-5.502480056695539e-21],"joint_position_rad":[-1.5743691332449907,-1.5776896188659622,1.5292546822948323,-1.522546114619757,-1.5707903783970802,-0.003568270259596111],"joint_velocity_rad_s":[-0.014525828968700465,-0.026688012005382723,-0.18288204960596252,0.20590966122324672,-7.425556948644713e-05,-0.014385535012422308],"linkage_position_rad":[0.002934226771925562,0.0001561492659269031,0.0031947755410107865,-0.0034292941398766045,0.0029342567247726565,0.000156351519227029,0.00319983289954034,-0.0034379875490588062],"tcp_position_m":[-0.13225478992192882,0.48913355154378385,0.3511874518519008],"tcp_quaternion_wxyz":[-6.718690088781077e-05,0.7071083817567962,0.7071051745742372,6.344715755914072e-05],"object_position_m":[-0.12546279446383868,0.4773124477343855,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4651274515421903e-13,-1.9020137856772696e-11,1.8632402802866903e-18],"object_linear_velocity_m_s":[2.6317620827803494e-11,2.0272152500168813e-13,1.3193500350132616e-14],"object_angular_velocity_rad_s":[-1.5609760768357249e-12,2.0266147915686155e-10,-5.502475037744046e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313487176305414,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5772152529184023,-1.5929486684802423,1.4827950308076037,-1.4864509108420934,-1.5707889172560054,-0.00641647855816225,0.0],"actuator_force":[0.11809224065700619,-19.842894426407383,-19.766483132072608,-2.5433642334928663,0.008156127486131481,0.014449351959161305,-0.29225975160039214],"issued_joint_targets_rad":[-1.5775234175137907,-1.582956355480749,1.4892703248354895,-1.4773128022025648,-1.5707903926095315,-0.00671982881890887],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.5775234175137907,-1.582956355480749,1.4892703248354895,-1.4773128022025648,-1.5707903926095315,-0.00671982881890887],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2600000000000002,"qpos":[-1.5746692036175727,-1.5781960135352897,1.5254556337296945,-1.5182491745676556,-1.570790393064175,-0.0038689439796772565,0.0029340137654107453,0.00015614821184741203,0.003194568535974553,-0.003429090878880188,0.0029340440512939524,0.0001563534915445447,0.003199638125769096,-0.0034377813478217484,-0.12546279446324465,0.4773124477343901,0.29989224457978353,1.0,1.542975265276398e-13,-2.0031230803765417e-11,1.8631502642620215e-18],"qvel":[-0.01454545425055312,-0.025822950658679136,-0.18379769502948418,0.20600880470821856,-7.33939250098894e-05,-0.014399065287005484,-0.00011715071735171506,-2.774314143708085e-05,-8.461761655896863e-06,0.0002573551348224808,-0.00011148877279866579,-9.101502583698894e-06,4.074885919602831e-05,0.00022883989573568904,3.096897118482407e-11,2.3854077929090487e-13,8.594401470622904e-15,1.2621014495048206e-12,-1.6394685695345145e-10,-1.0054478519850712e-20],"joint_position_rad":[-1.5746692036175727,-1.5781960135352897,1.5254556337296945,-1.5182491745676556,-1.570790393064175,-0.0038689439796772565],"joint_velocity_rad_s":[-0.01454545425055312,-0.025822950658679136,-0.18379769502948418,0.20600880470821856,-7.33939250098894e-05,-0.014399065287005484],"linkage_position_rad":[0.0029340137654107453,0.00015614821184741203,0.003194568535974553,-0.003429090878880188,0.0029340440512939524,0.0001563534915445447,0.003199638125769096,-0.0034377813478217484],"tcp_position_m":[-0.13210916131440772,0.4888748381849078,0.3528723379003883],"tcp_quaternion_wxyz":[-7.015730368660677e-05,0.7071081681492072,0.7071053876146366,6.649044487331751e-05],"object_position_m":[-0.12546279446324465,0.4773124477343901,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.542975265276398e-13,-2.0031230803765417e-11,1.8631502642620215e-18],"object_linear_velocity_m_s":[3.096897118482407e-11,2.3854077929090487e-13,8.594401470622904e-15],"object_angular_velocity_rad_s":[1.2621014495048212e-12,-1.6394685695345145e-10,-1.0054508818004913e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313488921871957,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.57751861211601,-1.5932724453222198,1.4788160626439641,-1.4821342049262052,-1.5707887637492235,-0.006719831147197785,0.0],"actuator_force":[0.11936470334694604,-19.823683310388333,-19.760064159666854,-2.5433956500966133,0.008154049976610622,0.014462944940284217,-0.292259693384483],"issued_joint_targets_rad":[-1.577827113752336,-1.5832753106727244,1.4852704728422728,-1.4729947437545112,-1.5707902417777961,-0.007023518126804722],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.577827113752336,-1.5832753106727244,1.4852704728422728,-1.4729947437545112,-1.5707902417777961,-0.007023518126804722],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.2800000000000002,"qpos":[-1.5749696234665544,-1.578684515840328,1.5216375998536051,-1.513950227053467,-1.5707903917162762,-0.004169905184630456,0.0029338390617355482,0.00015614713944001095,0.0031943997113346246,-0.0034289239590316496,0.002933869679387458,0.00015635543980664098,0.003199481504699257,-0.0034376114923762744,-0.12546279446266317,0.4773124477343946,0.29989224457978353,1.0,1.519417984751014e-13,-1.972677227278488e-11,1.863057576264544e-18],"qvel":[-0.014565003084068875,-0.024959697335990523,-0.18471283852243683,0.2061046445151509,-7.262653680219034e-05,-0.014412844185110442,-0.00011544348683899662,-2.7831759608505503e-05,-6.067419560665401e-06,0.000255941819887411,-0.0001097179573004159,-8.914083091690788e-06,4.418677791069465e-05,0.00022752392873347376,3.7973756623674927e-11,2.924779354578464e-13,7.814469795823733e-15,5.676222408259133e-12,-7.372238930364128e-10,-1.834848739181587e-20],"joint_position_rad":[-1.5749696234665544,-1.578684515840328,1.5216375998536051,-1.513950227053467,-1.5707903917162762,-0.004169905184630456],"joint_velocity_rad_s":[-0.014565003084068875,-0.024959697335990523,-0.18471283852243683,0.2061046445151509,-7.262653680219034e-05,-0.014412844185110442],"linkage_position_rad":[0.0029338390617355482,0.00015614713944001095,0.0031943997113346246,-0.0034289239590316496,0.002933869679387458,0.00015635543980664098,0.003199481504699257,-0.0034376114923762744],"tcp_position_m":[-0.1319635328403141,0.48861621778026376,0.3545571282193295],"tcp_quaternion_wxyz":[-7.280956920542107e-05,0.7071079764790046,0.7071055787569277,6.920523087924172e-05],"object_position_m":[-0.12546279446266317,0.4773124477343946,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.519417984751014e-13,-1.972677227278488e-11,1.863057576264544e-18],"object_linear_velocity_m_s":[3.7973756623674927e-11,2.924779354578464e-13,7.814469795823733e-15],"object_angular_velocity_rad_s":[5.6762224082591355e-12,-7.372238930364128e-10,-1.8348570546554593e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313490317856651,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.577822308133991,-1.593578887979572,1.474818373742601,-1.4778161420142555,-1.5707886128900759,-0.0070235204444217755,0.0],"actuator_force":[0.12063189875425451,-19.804865344091922,-19.753316813033052,-2.5434219319093927,0.008152066780326095,0.014476788615384262,-0.2922596298354532],"issued_joint_targets_rad":[-1.5781311459870229,-1.5835766998328036,1.4812516345929092,-1.468675267167955,-1.5707900932804424,-0.00732754331519922],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5781311459870229,-1.5835766998328036,1.4812516345929092,-1.468675267167955,-1.5707900932804424,-0.00732754331519922],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3000000000000002,"qpos":[-1.575270391197466,-1.5791551578373202,1.5178005817035196,-1.509649329363072,-1.5707903761121123,-0.004471158517331716,0.002933695746529521,0.00015614605174495464,0.0031942621860997543,-0.0034287868158934904,0.002933726694930842,0.00015635736883380476,0.0031993561624939822,-0.0034374714173742854,-0.12546279446210992,0.47731244773439885,0.29989224457978353,1.0,1.3682251016361594e-13,-1.776516219233432e-11,1.862972243780735e-18],"qvel":[-0.014584480858232144,-0.02409795150458445,-0.18562794885564957,0.20619779557401083,-7.19426686278401e-05,-0.01442684408148745,-0.00011405079173033381,-2.7920368006493365e-05,-3.977836279123327e-06,0.0002548295741493337,-0.00010826142700850994,-8.725526987558946e-06,4.732400869628206e-05,0.000226509204277313,4.8998249558861494e-11,3.7730557909446306e-13,7.67985525408793e-15,1.2364707501490481e-11,-1.6061333318396005e-09,-3.3477388597509876e-20],"joint_position_rad":[-1.575270391197466,-1.5791551578373202,1.5178005817035196,-1.509649329363072,-1.5707903761121123,-0.004471158517331716],"joint_velocity_rad_s":[-0.014584480858232144,-0.02409795150458445,-0.18562794885564957,0.20619779557401083,-7.19426686278401e-05,-0.01442684408148745],"linkage_position_rad":[0.002933695746529521,0.00015614605174495464,0.0031942621860997543,-0.0034287868158934904,0.002933726694930842,0.00015635736883380476,0.0031993561624939822,-0.0034374714173742854],"tcp_position_m":[-0.13181790501167817,0.48835769442061444,0.35624182323999676],"tcp_quaternion_wxyz":[-7.517444800648839e-05,0.7071078045413254,0.7071057502069006,7.16232110629792e-05],"object_position_m":[-0.12546279446210992,0.47731244773439885,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3682251016361594e-13,-1.776516219233432e-11,1.862972243780735e-18],"object_linear_velocity_m_s":[4.8998249558861494e-11,3.7730557909446306e-13,7.67985525408793e-15],"object_angular_velocity_rad_s":[1.2364707501490487e-11,-1.6061333318396005e-09,-3.3477576917299867e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313491427140015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5781263401290408,-1.5938679690417894,1.4708018721242868,-1.473496657850865,-1.5707884643167984,-0.007327545623353263,0.0],"actuator_force":[0.12189448014260051,-19.786441807104893,-19.746239616205912,-2.543443801297599,0.008150164519747705,0.014490855137971437,-0.29225956097932393],"issued_joint_targets_rad":[-1.5784355133190555,-1.5838604946644972,1.4772137154154474,-1.4643543067514821,-1.570789946781869,-0.007631903498625878],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5784355133190555,-1.5838604946644972,1.4772137154154474,-1.4643543067514821,-1.570789946781869,-0.007631903498625878],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.32000000000000023,"qpos":[-1.5755715053070918,-1.5796079657528548,1.5139445711911412,-1.505346527014344,-1.5707903478098983,-0.004772708091008481,0.0029335781532209915,0.00015614495118622276,0.0031941503212969255,-0.0034286740696352286,0.002933609431578707,0.00015635928269174584,0.0031992564667580902,-0.003437355742093664,-0.12546279446150288,0.4773124477344035,0.29989224457978353,1.0,1.3831130209699432e-13,-1.7960641543242376e-11,1.8628452213471738e-18],"qvel":[-0.014603892076059468,-0.023237434422792497,-0.1865434622338309,0.2062888191947724,-7.133275810974615e-05,-0.014441039727605682,-0.00011291596877820909,-2.8009006326519928e-05,-2.1365277336560748e-06,0.0002539646278925545,-0.00010706251261855614,-8.535843322956715e-06,5.021714567523652e-05,0.0002257419690289426,2.205776102572315e-11,1.6986346628783476e-13,7.652099678472298e-15,-5.125509184827777e-12,6.655294834473986e-10,-3.627767390000077e-21],"joint_position_rad":[-1.5755715053070918,-1.5796079657528548,1.5139445711911412,-1.505346527014344,-1.5707903478098983,-0.004772708091008481],"joint_velocity_rad_s":[-0.014603892076059468,-0.023237434422792497,-0.1865434622338309,0.2062888191947724,-7.133275810974615e-05,-0.014441039727605682],"linkage_position_rad":[0.0029335781532209915,0.00015614495118622276,0.0031941503212969255,-0.0034286740696352286,0.002933609431578707,0.00015635928269174584,0.0031992564667580902,-0.003437355742093664],"tcp_position_m":[-0.13167227833949166,0.48809927235448014,0.35792642337186187],"tcp_quaternion_wxyz":[-7.727974301896714e-05,0.7071076503503546,0.7071059039503067,7.377303691416973e-05],"object_position_m":[-0.12546279446150288,0.4773124477344035,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3831130209699432e-13,-1.7960641543242376e-11,1.8628452213471738e-18],"object_linear_velocity_m_s":[2.205776102572315e-11,1.6986346628783476e-13,7.652099678472298e-15],"object_angular_velocity_rad_s":[-5.12550918482778e-12,6.655294834473986e-10,-3.627781757511554e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313492301244551,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.578430707200238,-1.59413965963376,1.4667664631550859,-1.46917568700571,-1.5707883176994157,-0.007631905798411519,0.0],"actuator_force":[0.12315304413141348,-19.76841399269324,-19.738831178578494,-2.5434619151602647,0.008148331052211688,0.014505119059049054,-0.2922594868330011],"issued_joint_targets_rad":[-1.5787402147851113,-1.5841266652388823,1.4731566178756719,-1.4600317956358546,-1.570789801975737,-0.007936597725909423],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5787402147851113,-1.5841266652388823,1.4731566178756719,-1.4600317956358546,-1.570789801975737,-0.007936597725909423],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.34000000000000025,"qpos":[-1.5758729643659724,-1.580042960392002,1.5100695517129412,-1.5010418547720674,-1.5707903081893488,-0.005074557533741938,0.0029334816378591526,0.0001561438396866309,0.003194059495825401,-0.0034285813112639603,0.0029335132455867398,0.00015636118482061846,0.0031991778024532385,-0.003437260056674613,-0.12546279446087943,0.47731244773440834,0.29989224457978353,1.0,1.4655898599169843e-13,-1.903194598231599e-11,1.862682640808029e-18],"qvel":[-0.014623240422673666,-0.02237788675431248,-0.18745978585330758,0.20637822834868677,-7.078828941022102e-05,-0.014455407993549258,-0.0001119925819401776,-2.8097709748502224e-05,-4.971867642109584e-07,0.0002533029210268062,-0.00010607477163891192,-8.34503433519544e-06,5.2912614784998555e-05,0.00022517818053057007,2.40513808373385e-11,1.8521539515357266e-13,7.652099678472298e-15,-4.070836673067758e-12,5.28626635090286e-10,-6.6245916134111236e-21],"joint_position_rad":[-1.5758729643659724,-1.580042960392002,1.5100695517129412,-1.5010418547720674,-1.5707903081893488,-0.005074557533741938],"joint_velocity_rad_s":[-0.014623240422673666,-0.02237788675431248,-0.18745978585330758,0.20637822834868677,-7.078828941022102e-05,-0.014455407993549258],"linkage_position_rad":[0.0029334816378591526,0.0001561438396866309,0.003194059495825401,-0.0034285813112639603,0.0029335132455867398,0.00015636118482061846,0.0031991778024532385,-0.003437260056674613],"tcp_position_m":[-0.13152665333643088,0.48784095599940486,0.35961092900740155],"tcp_quaternion_wxyz":[-7.915059222982417e-05,0.7071075121175318,0.7071060417749117,7.568060825106821e-05],"object_position_m":[-0.12546279446087943,0.47731244773440834,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4655898599169843e-13,-1.903194598231599e-11,1.862682640808029e-18],"object_linear_velocity_m_s":[2.40513808373385e-11,1.8521539515357266e-13,7.652099678472298e-15],"object_angular_velocity_rad_s":[-4.0708366730677596e-12,5.28626635090286e-10,-6.624593533526365e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313492982384927,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5787354083822789,-1.5943939293493339,1.4627120494505654,-1.4648531628447858,-1.5707881727365973,-0.007936600018318087,0.0],"actuator_force":[0.12440813645662274,-19.750783212938586,-19.731090183428478,-2.543476871227881,0.00814655531689823,0.014519557066851263,-0.29225940740439915],"issued_joint_targets_rad":[-1.579045249349982,-1.5843751799288368,1.469080241674131,-1.4557076657420478,-1.5707896585820595,-0.008241624972956345],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.579045249349982,-1.5843751799288368,1.469080241674131,-1.4557076657420478,-1.5707896585820595,-0.008241624972956345],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.36000000000000026,"qpos":[-1.5761747670021016,-1.5804601575006276,1.506175498692019,-1.496735337562555,-1.5707902584713107,-0.005376710028015299,0.0029334023945720715,0.00015614271876202322,0.0031939859227633114,-0.0034285049274241767,0.0029334343312715757,0.00015636307814183805,0.00319911638825712,-0.0034371807469188017,-0.1254627944602713,0.477312447734413,0.29989224457978353,1.0,1.5168554195716542e-13,-1.9699405173124753e-11,1.862500765795866e-18],"qvel":[-0.0146425288229948,-0.021519066378671882,-0.18837730115361326,0.20646649244566828,-7.030167945058299e-05,-0.014469927631841982,-0.00011124257688538983,-2.818650980394535e-05,9.781542308384648e-07,0.0002528083530073464,-0.00010526014289954725,-8.15309646069194e-06,5.54485110747617e-05,0.0002247817564683005,2.6593339513329047e-11,2.0476746344585018e-13,7.646548563349173e-15,-2.2477742812543117e-12,2.9182789777267937e-10,-1.2090055921134381e-20],"joint_position_rad":[-1.5761747670021016,-1.5804601575006276,1.506175498692019,-1.496735337562555,-1.5707902584713107,-0.005376710028015299],"joint_velocity_rad_s":[-0.0146425288229948,-0.021519066378671882,-0.18837730115361326,0.20646649244566828,-7.030167945058299e-05,-0.014469927631841982],"linkage_position_rad":[0.0029334023945720715,0.00015614271876202322,0.0031939859227633114,-0.0034285049274241767,0.0029334343312715757,0.00015636307814183805,0.00319911638825712,-0.0034371807469188017],"tcp_position_m":[-0.1313810305195472,0.48758274995426965,0.3612953405267589],"tcp_quaternion_wxyz":[-8.080972428100647e-05,0.7071073882319051,0.7071061652903526,7.736933749172967e-05],"object_position_m":[-0.1254627944602713,0.477312447734413,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5168554195716542e-13,-1.9699405173124753e-11,1.862500765795866e-18],"object_linear_velocity_m_s":[2.6593339513329047e-11,2.0476746344585018e-13,7.646548563349173e-15],"object_angular_velocity_rad_s":[-2.247774281254313e-12,2.9182789777267937e-10,-1.2090083408078959e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493505148207,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5790404426381048,-1.5946307461782976,1.4586385307725853,-1.4605290175009131,-1.5707880291528158,-0.008241627258886282,0.0],"actuator_force":[0.12566025719115714,-19.733550803870912,-19.7230153774226,-2.543489213745943,0.008144827192381854,0.014534147748706872,-0.29225932269325766],"issued_joint_targets_rad":[-1.5793506158988324,-1.5846060053352458,1.464984483534926,-1.4513818477486147,-1.5707895163445584,-0.008546984135134127],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.5793506158988324,-1.5846060053352458,1.464984483534926,-1.4513818477486147,-1.5707895163445584,-0.008546984135134127],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.3800000000000003,"qpos":[-1.5764769118856516,-1.580859568085551,1.5022623800575452,-1.4924269912975086,-1.5707901997352582,-0.00567916834574258,0.0029333373043268366,0.0001561415895974518,0.003193926498823704,-0.0034284419568189526,0.002933369569772602,0.00015636496514598544,0.0031990691260684557,-0.0034371148507142423,-0.12546279445968228,0.4773124477344175,0.29989224457978353,1.0,1.5222398064884895e-13,-1.9769071243874403e-11,1.8623033644925913e-18],"qvel":[-0.014661759491215258,-0.020660746376347766,-0.18929636679582182,0.20655404165688174,-6.986617626276808e-05,-0.014484579062022907,-0.00011063476869479762,-2.8275435405876873e-05,2.3206285413874133e-06,0.00025245134456660496,-0.00010458743423032834,-7.960021093859391e-06,5.785610485084161e-05,0.000224523138053998,3.029702619793716e-11,2.3329979742537355e-13,7.649324120910736e-15,6.366333648463075e-13,-8.261275695684614e-11,-2.2037064226326962e-20],"joint_position_rad":[-1.5764769118856516,-1.580859568085551,1.5022623800575452,-1.4924269912975086,-1.5707901997352582,-0.00567916834574258],"joint_velocity_rad_s":[-0.014661759491215258,-0.020660746376347766,-0.18929636679582182,0.20655404165688174,-6.986617626276808e-05,-0.014484579062022907],"linkage_position_rad":[0.0029333373043268366,0.0001561415895974518,0.003193926498823704,-0.0034284419568189526,0.002933369569772602,0.00015636496514598544,0.0031990691260684557,-0.0034371148507142423],"tcp_position_m":[-0.13123541041294626,0.4873246590127889,0.3629796583022955],"tcp_quaternion_wxyz":[-8.227768957613159e-05,0.7071072772424214,0.7071062759460063,7.886038855987972e-05],"object_position_m":[-0.12546279445968228,0.4773124477344175,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5222398064884895e-13,-1.9769071243874403e-11,1.8623033644925913e-18],"object_linear_velocity_m_s":[3.029702619793716e-11,2.3329979742537355e-13,7.649324120910736e-15],"object_angular_velocity_rad_s":[6.366333648463078e-13,-8.261275695684614e-11,-2.203704421106791e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493897870681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5793458088511458,-1.5948500764261564,1.4545458039178922,-1.4562031818433334,-1.5707878866957652,-0.008546986415399459,0.0],"actuator_force":[0.1269098654975096,-19.71671813067178,-19.71460556097736,-2.5434994386006338,0.008143137372826459,0.014548871373850858,-0.29225923269034626],"issued_joint_targets_rad":[-1.5796563132287738,-1.5848191062043553,1.4608692370851277,-1.4470542710581105,-1.5707893750282622,-0.008852674018956045],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.5796563132287738,-1.5848191062043553,1.4608692370851277,-1.4470542710581105,-1.5707893750282622,-0.008852674018956045],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4000000000000003,"qpos":[-1.576779397714528,-1.581241198695797,1.4983301566668803,-1.488116823615734,-1.5707901329348837,-0.005981934879145811,0.002933283810983065,0.00015614045310987358,0.00319387868097855,-0.003428389972540693,0.0029333164051069636,0.00015636684796580463,0.003199033477674746,-0.003437059940365954,-0.12546279445911854,0.47731244773442183,0.29989224457978353,1.0,1.459369619661605e-13,-1.8951786799125286e-11,1.8621002039813286e-18],"qvel":[-0.014680933971622135,-0.0198027131677456,-0.19021732139899877,0.2066412708273267,-6.947576813495525e-05,-0.01449934417268422,-0.00011014360230375089,-2.8364513370157645e-05,3.555769962986099e-06,0.00025220766369001235,-0.00010403108289088935,-7.765795154685e-06,6.0161075818017306e-05,0.00022437811455009279,3.620723198530968e-11,2.788229608289533e-13,7.649324120910735e-15,4.988043668287395e-12,-6.476149998082744e-10,-4.0217031104861897e-20],"joint_position_rad":[-1.576779397714528,-1.581241198695797,1.4983301566668803,-1.488116823615734,-1.5707901329348837,-0.005981934879145811],"joint_velocity_rad_s":[-0.014680933971622135,-0.0198027131677456,-0.19021732139899877,0.2066412708273267,-6.947576813495525e-05,-0.01449934417268422],"linkage_position_rad":[0.002933283810983065,0.00015614045310987358,0.00319387868097855,-0.003428389972540693,0.0029333164051069636,0.00015636684796580463,0.003199033477674746,-0.003437059940365954],"tcp_position_m":[-0.13108979355048922,0.4870666881783459,0.364663882703091],"tcp_quaternion_wxyz":[-8.357306924221328e-05,0.707107177841966,0.7071063750470779,8.017289285767354e-05],"object_position_m":[-0.12546279445911854,0.47731244773442183,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.459369619661605e-13,-1.8951786799125286e-11,1.8621002039813286e-18],"object_linear_velocity_m_s":[3.620723198530968e-11,2.788229608289533e-13,7.649324120910735e-15],"object_angular_velocity_rad_s":[4.988043668287397e-12,-6.476149998082744e-10,-4.0216988355761147e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494183766358,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5796515058168814,-1.5950518846258341,1.4504337625973833,-1.451875585446146,-1.5707877451340149,-0.008852676294294955,0.0],"actuator_force":[0.12815738394192522,-19.700286592976227,-19.705859579394655,-2.5435079979386046,0.008141477247932016,0.014563709693850235,-0.2922591373785282],"issued_joint_targets_rad":[-1.5799623400396468,-1.5850144453353627,1.4567343927236405,-1.4427248637623582,-1.570789234417331,-0.009158693332972657],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5799623400396468,-1.5850144453353627,1.4567343927236405,-1.4427248637623582,-1.570789234417331,-0.009158693332972657],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.4200000000000003,"qpos":[-1.5770822232005866,-1.581605051667781,1.4943787826748625,-1.483804834550462,-1.5707900589119907,-0.006285011667803093,0.0029332398197137437,0.0001561393099986966,0.003193840385348625,-0.003428346985639676,0.002933272742591718,0.00015636872843614267,0.003199007363681326,-0.0034370140261525783,-0.12546279445856107,0.4773124477344261,0.29989224457978353,1.0,1.3898704998661883e-13,-1.804793512009542e-11,1.8618745558103227e-18],"qvel":[-0.014700053171201825,-0.018944764786856763,-0.19114048606342554,0.2067285430186502,-6.912510245419647e-05,-0.01451420613884361,-0.00010974813679910065,-2.8453769080854808e-05,4.704523673970044e-06,0.00025205746003438307,-0.00010357013985249293,-7.570401638157545e-06,6.238452521740005e-05,0.0002243268583479231,4.6210703195783977e-11,3.559022011708627e-13,7.643773005787609e-15,1.131414488438917e-11,-1.4686047281694202e-09,-7.34005035400895e-20],"joint_position_rad":[-1.5770822232005866,-1.581605051667781,1.4943787826748625,-1.483804834550462,-1.5707900589119907,-0.006285011667803093],"joint_velocity_rad_s":[-0.014700053171201825,-0.018944764786856763,-0.19114048606342554,0.2067285430186502,-6.912510245419647e-05,-0.01451420613884361],"linkage_position_rad":[0.0029332398197137437,0.0001561393099986966,0.003193840385348625,-0.003428346985639676,0.002933272742591718,0.00015636872843614267,0.003199007363681326,-0.0034370140261525783],"tcp_position_m":[-0.13094418047854403,0.4868088426803319,0.36634801409943407],"tcp_quaternion_wxyz":[-8.471266406249154e-05,0.7071070888529707,0.707106463769088,8.132414450882657e-05],"object_position_m":[-0.12546279445856107,0.4773124477344261,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3898704998661883e-13,-1.804793512009542e-11,1.8618745558103227e-18],"object_linear_velocity_m_s":[4.6210703195783977e-11,3.559022011708627e-13,7.643773005787609e-15],"object_angular_velocity_rad_s":[1.1314144884389175e-11,-1.4686047281694202e-09,-7.34003437119932e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494381851621,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5799575322336132,-1.595236133440321,1.446302297304853,-1.447546156555392,-1.5707876042548827,-0.009158695604054787,0.0],"actuator_force":[0.12940320242705639,-19.684257630337015,-19.69677631464856,-2.5435153043300716,0.008139838799479548,0.014578645758514419,-0.2922590367320151],"issued_joint_targets_rad":[-1.580268694923955,-1.5851919834771486,1.4525798374781054,-1.4383935526062863,-1.5707890943130725,-0.009465040677792271],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.580268694923955,-1.5851919834771486,1.4525798374781054,-1.4383935526062863,-1.5707890943130725,-0.009465040677792271],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.44000000000000034,"qpos":[-1.5773853870563472,-1.5819511253368903,1.4904082058541859,-1.4794910171292788,-1.5707899784088657,-0.0065884004221513906,0.002933203613757594,0.0001561381607870128,0.0031938099043403254,-0.003428311366085866,0.002933236865597428,0.00015637060814438652,0.003198989080686006,-0.003436975477309725,-0.12546279445797545,0.4773124477344306,0.29989224457978353,1.0,1.3654264127061434e-13,-1.772878205578937e-11,1.8615961238545966e-18],"qvel":[-0.01471911738466811,-0.018086709271419074,-0.1920661667074702,0.20681619271885027,-6.880941315278008e-05,-0.014529149252824548,-0.00010943121296872351,-2.8543227041168104e-05,5.784075401404189e-06,0.0002519844751906527,-0.00010318743730562597,-7.3738198720873305e-06,6.45438052104083e-05,0.0002243531361790641,2.1631848378611314e-11,1.6659969879379772e-13,7.650711899691518e-15,-5.1923982325083565e-12,6.742417552653413e-10,-7.952412412298705e-21],"joint_position_rad":[-1.5773853870563472,-1.5819511253368903,1.4904082058541859,-1.4794910171292788,-1.5707899784088657,-0.0065884004221513906],"joint_velocity_rad_s":[-0.01471911738466811,-0.018086709271419074,-0.1920661667074702,0.20681619271885027,-6.880941315278008e-05,-0.014529149252824548],"linkage_position_rad":[0.002933203613757594,0.0001561381607870128,0.0031938099043403254,-0.003428311366085866,0.002933236865597428,0.00015637060814438652,0.003198989080686006,-0.003436975477309725],"tcp_position_m":[-0.1307985717588182,0.48655112799220834,0.36803205286735285],"tcp_quaternion_wxyz":[-8.571166531079493e-05,0.7071070092144427,0.7071065431709167,8.232977686253597e-05],"object_position_m":[-0.12546279445797545,0.4773124477344306,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3654264127061434e-13,-1.772878205578937e-11,1.8615961238545966e-18],"object_linear_velocity_m_s":[2.1631848378611314e-11,1.6659969879379772e-13,7.650711899691518e-15],"object_angular_velocity_rad_s":[-5.192398232508359e-12,6.742417552653413e-10,-7.952396705282989e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494507702973,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5802638866923888,-1.5954027835551294,1.4421512951738165,-1.4432148220545344,-1.5707874638624955,-0.00946504294522542,0.0],"actuator_force":[0.13064768178446684,-19.66863272791079,-19.68735467775059,-2.543521734512751,0.008138214500377217,0.014593663745439578,-0.2922589307163793],"issued_joint_targets_rad":[-1.5805753763557375,-1.585351679212791,1.4484054548481566,-1.434060262950041,-1.5707889545321347,-0.009771714535045686],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5805753763557375,-1.585351679212791,1.4484054548481566,-1.434060262950041,-1.5707889545321347,-0.009771714535045686],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.46000000000000035,"qpos":[-1.5776888879820359,-1.5822794142175614,1.4864183678702727,-1.4751753579129447,-1.5707898920792966,-0.006892102543683578,0.0029331737861944844,0.00015613700585511315,0.0031937858387368215,-0.003428281778003954,0.0029332073673246023,0.000156372488471098,0.0031989772334012324,-0.003436942957241194,-0.1254627944573365,0.47731244773443554,0.29989224457978353,1.0,1.4799252122824387e-13,-1.921614176635222e-11,1.8611946326154354e-18],"qvel":[-0.01473812631175994,-0.017228363151922003,-0.1929946562437748,0.20690452875209195,-6.852445587005476e-05,-0.014544158766501853,-0.00010917877111287107,-2.8632911250283753e-05,6.808531056329252e-06,0.0002519753952725021,-0.00010286890646151543,-7.176025901074568e-06,6.665319906976119e-05,0.00022444366059175315,2.398842191661784e-11,1.8474488429618643e-13,7.656263014814643e-15,-4.401879879695097e-12,5.715239935767267e-10,-1.451889250831854e-20],"joint_position_rad":[-1.5776888879820359,-1.5822794142175614,1.4864183678702727,-1.4751753579129447,-1.5707898920792966,-0.006892102543683578],"joint_velocity_rad_s":[-0.01473812631175994,-0.017228363151922003,-0.1929946562437748,0.20690452875209195,-6.852445587005476e-05,-0.014544158766501853],"linkage_position_rad":[0.0029331737861944844,0.00015613700585511315,0.0031937858387368215,-0.003428281778003954,0.0029332073673246023,0.000156372488471098,0.0031989772334012324,-0.003436942957241194],"tcp_position_m":[-0.1306529679713059,0.4862935498515154,0.3697159993932462],"tcp_quaternion_wxyz":[-8.658380921013971e-05,0.7071069379702708,0.7071066142065554,8.320392205326559e-05],"object_position_m":[-0.1254627944573365,0.47731244773443554,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4799252122824387e-13,-1.921614176635222e-11,1.8611946326154354e-18],"object_linear_velocity_m_s":[2.398842191661784e-11,1.8474488429618643e-13,7.656263014814643e-15],"object_angular_velocity_rad_s":[-4.401879879695099e-12,5.715239935767267e-10,-1.4518904250428182e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349457407815,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5805705676658648,-1.5955517935591546,1.43798063982072,-1.4388815074280505,-1.5707873237760224,-0.00977171679938187,0.0],"actuator_force":[0.13189115704608412,-19.65341342241709,-19.677593601595618,-2.543527632762107,0.008136597224165598,0.014608748801039795,-0.2922588192880824],"issued_joint_targets_rad":[-1.5808823826782221,-1.5854934888302754,1.4442111246330853,-1.4297249187290624,-1.570788814904859,-0.010078713255118308],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5808823826782221,-1.5854934888302754,1.4442111246330853,-1.4297249187290624,-1.570788814904859,-0.010078713255118308],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.48000000000000037,"qpos":[-1.5779927246527878,-1.5825899091536002,1.4824092045135202,-1.4708578374787717,-1.5707898004983758,-0.007196119142039289,0.002933149184033361,0.00015613584546753573,0.0031937670420462043,-0.0034282571265887474,0.002933183094892581,0.00015637437062499462,0.0031989706790313877,-0.0034369153704453897,-0.12546279445670702,0.47731244773444037,0.29989224457978353,1.0,1.5543905706465939e-13,-2.0182958117665285e-11,1.8607431524258256e-18],"qvel":[-0.014757079066980885,-0.016369550022442926,-0.1939262366191159,0.20699383691875,-6.826644999397242e-05,-0.01455922074301103,-0.00010897929197146395,-2.8722845602758683e-05,7.789473452868271e-06,0.0002520193202555939,-0.00010260301842735859,-6.97699258354845e-06,6.872447894031138e-05,0.00022458756118480392,2.6650096311615926e-11,2.052474769178195e-13,7.649324120910735e-15,-2.8128525519945053e-12,3.6524321099383016e-10,-2.6496133227694128e-20],"joint_position_rad":[-1.5779927246527878,-1.5825899091536002,1.4824092045135202,-1.4708578374787717,-1.5707898004983758,-0.007196119142039289],"joint_velocity_rad_s":[-0.014757079066980885,-0.016369550022442926,-0.1939262366191159,0.20699383691875,-6.826644999397242e-05,-0.01455922074301103],"linkage_position_rad":[0.002933149184033361,0.00015613584546753573,0.0031937670420462043,-0.0034282571265887474,0.002933183094892581,0.00015637437062499462,0.0031989706790313877,-0.0034369153704453897],"tcp_position_m":[-0.13050736971739338,0.48603611428210397,0.3713998540786605],"tcp_quaternion_wxyz":[-8.73415165952688e-05,0.7071068742586756,0.7071066777356946,8.395935524454065e-05],"object_position_m":[-0.12546279445670702,0.47731244773444037,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5543905706465939e-13,-2.0182958117665285e-11,1.8607431524258256e-18],"object_linear_velocity_m_s":[2.6650096311615926e-11,2.052474769178195e-13,7.649324120910735e-15],"object_angular_velocity_rad_s":[-2.8128525519945065e-12,3.6524321099383016e-10,-2.6496130477557974e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494591424919,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5808775734959548,-1.5956831198123191,1.4337902111725906,-1.4345461367228463,-1.5707871838280616,-0.010078715516859233,0.0],"actuator_force":[0.133133940458265,-19.638601308460238,-19.667492034212955,-2.5435333139123486,0.00813498015645564,0.014623886891130589,-0.29225870239430296],"issued_joint_targets_rad":[-1.5811897120900202,-1.5856173661774415,1.4399967227415542,-1.4253874424117499,-1.5707886752737674,-0.010386035043418437],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.5811897120900202,-1.5856173661774415,1.4399967227415542,-1.4253874424117499,-1.5707886752737674,-0.010386035043418437],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5000000000000003,"qpos":[-1.5782968957058443,-1.582882597440133,1.4783806458913087,-1.4665384308536362,-1.5707897041712273,-0.0075004510491480485,0.002933128862390359,0.00015613467979520937,0.003193752574891168,-0.003428236514609697,0.0029331631035184255,0.00015637625567082398,0.003198968481690467,-0.0034368918190088023,-0.12546279445609318,0.47731244773444503,0.29989224457978353,1.0,1.5797732144722516e-13,-2.0511244529677056e-11,1.860248049834682e-18],"qvel":[-0.014775974181452892,-0.015510099176217672,-0.1948611807418739,0.20708438239320176,-6.803202680007852e-05,-0.014574321915953179,-0.00010882333863196014,-2.8813054301012373e-05,8.736419095649642e-06,0.00025210732937147015,-0.00010238032607594635,-6.776689731086744e-06,7.076736327662952e-05,0.00022477594822240934,3.0226326512764086e-11,2.328056690998452e-13,7.65348745725308e-15,-1.6944977437042447e-13,2.2151796247135122e-11,-4.8380860964196155e-20],"joint_position_rad":[-1.5782968957058443,-1.582882597440133,1.4783806458913087,-1.4665384308536362,-1.5707897041712273,-0.0075004510491480485],"joint_velocity_rad_s":[-0.014775974181452892,-0.015510099176217672,-0.1948611807418739,0.20708438239320176,-6.803202680007852e-05,-0.014574321915953179],"linkage_position_rad":[0.002933128862390359,0.00015613467979520937,0.003193752574891168,-0.003428236514609697,0.0029331631035184255,0.00015637625567082398,0.003198968481690467,-0.0034368918190088023],"tcp_position_m":[-0.13036177762315745,0.4857788276189199,0.3730836173452934],"tcp_quaternion_wxyz":[-8.79960191955965e-05,0.7071068173026985,0.707106734533265,8.460762503115076e-05],"object_position_m":[-0.12546279445609318,0.47731244773444503,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5797732144722516e-13,-2.0511244529677056e-11,1.860248049834682e-18],"object_linear_velocity_m_s":[3.0226326512764086e-11,2.328056690998452e-13,7.65348745725308e-15],"object_angular_velocity_rad_s":[-1.6944977437042455e-13,2.2151796247135122e-11,-4.8380813252838645e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494568298135,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5811849023800175,-1.595796716298016,1.4295798852767683,-1.4302086325071277,-1.5707870438631621,-0.010386037303020465,0.0],"actuator_force":[0.13437632423438117,-19.624198045279172,-19.657048932331236,-2.5435390660659323,0.008133356712619388,0.014639064659109025,-0.2922585799718997],"issued_joint_targets_rad":[-1.5814973626297912,-1.5857232624988966,1.4357621209806444,-1.4210477549543081,-1.570788535492181,-0.010693677945116598],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.5814973626297912,-1.5857232624988966,1.4357621209806444,-1.4210477549543081,-1.570788535492181,-0.010693677945116598],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5200000000000004,"qpos":[-1.578601399727574,-1.5831574629182312,1.474332616581681,-1.462217107901183,-1.5707896035407651,-0.007805098830561035,0.002933112046936891,0.00015613350893302856,0.003193741667632508,-0.003428219206755756,0.002933146618965748,0.0001563781445536173,0.0031989698750491667,-0.0034368715669536114,-0.12546279445550199,0.4773124477344496,0.29989224457978353,1.0,1.5379499194287254e-13,-1.996472518642686e-11,1.8597296803557847e-18],"qvel":[-0.01479480959749051,-0.014649844289063532,-0.1957997543204487,0.20717641190436992,-6.781818308912355e-05,-0.014589449555077764,-0.0001087031810911946,-2.8903562122207022e-05,9.65719221030535e-06,0.0002522321250558114,-0.0001021930885574046,-6.575084178611185e-06,7.27898922728523e-05,0.00022500155870087415,3.571083995089964e-11,2.751186810256149e-13,7.647936342129954e-15,3.90386457785527e-12,-5.061163828059381e-10,-8.827678690521699e-20],"joint_position_rad":[-1.578601399727574,-1.5831574629182312,1.474332616581681,-1.462217107901183,-1.5707896035407651,-0.007805098830561035],"joint_velocity_rad_s":[-0.01479480959749051,-0.014649844289063532,-0.1957997543204487,0.20717641190436992,-6.781818308912355e-05,-0.014589449555077764],"linkage_position_rad":[0.002933112046936891,0.00015613350893302856,0.003193741667632508,-0.003428219206755756,0.002933146618965748,0.0001563781445536173,0.0031989698750491667,-0.0034368715669536114],"tcp_position_m":[-0.1302161923429062,0.48552169653571337,0.3747672896402744],"tcp_quaternion_wxyz":[-8.855747381646001e-05,0.7071067664016152,0.7071067852980483,8.515917132162948e-05],"object_position_m":[-0.12546279445550199,0.4773124477344496,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5379499194287254e-13,-1.996472518642686e-11,1.8597296803557847e-18],"object_linear_velocity_m_s":[3.571083995089964e-11,2.751186810256149e-13,7.647936342129954e-15],"object_angular_velocity_rad_s":[3.903864577855271e-12,-5.061163828059381e-10,-8.827658406832476e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494511701546,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5814925523555168,-1.5958925344580592,1.4253495340899973,-1.4258689158263336,-1.5707869037364695,-0.010693680202995232,0.0],"actuator_force":[0.13561858311049946,-19.610205364030662,-19.646263255187932,-2.5435451530122464,0.008131720456731273,0.014654269290677924,-0.292258451946889],"issued_joint_targets_rad":[-1.5818053321588377,-1.5858111262520036,1.4315071868208262,-1.4167057757522865,-1.5707883954229378,-0.011001639827802731],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5818053321588377,-1.5858111262520036,1.4315071868208262,-1.4167057757522865,-1.5707883954229378,-0.011001639827802731],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5400000000000004,"qpos":[-1.578906235240128,-1.5834144860428945,1.4702650357500906,-1.457893833667291,-1.5707894989945912,-0.00811006279404393,0.002933098103124818,0.00015613233291427152,0.0031937336897381813,-0.00342820460042191,0.0029331330067704315,0.0001563800381179274,0.0031989742317267635,-0.0034368540110155934,-0.1254627944549442,0.4773124477344539,0.29989224457978353,1.0,1.4000670448014362e-13,-1.817190940737677e-11,1.8592342585575515e-18],"qvel":[-0.014813582654188976,-0.013788622132421095,-0.19674221763688762,0.20727015572198682,-6.762223961973299e-05,-0.014604591335283319,-0.0001086124886255305,-2.8994394746824577e-05,1.0558232235612527e-05,0.000252387741455569,-0.00010203496360393644,-6.372139667434312e-06,7.479873634277882e-05,0.00022525846400298444,4.474302329038528e-11,3.447521622273515e-13,7.640997448226047e-15,9.929910062126836e-12,-1.2883276023565336e-09,-1.6120719164480786e-19],"joint_position_rad":[-1.578906235240128,-1.5834144860428945,1.4702650357500906,-1.457893833667291,-1.5707894989945912,-0.00811006279404393],"joint_velocity_rad_s":[-0.014813582654188976,-0.013788622132421095,-0.19674221763688762,0.20727015572198682,-6.762223961973299e-05,-0.014604591335283319],"linkage_position_rad":[0.002933098103124818,0.00015613233291427152,0.0031937336897381813,-0.00342820460042191,0.0029331330067704315,0.0001563800381179274,0.0031989742317267635,-0.0034368540110155934],"tcp_position_m":[-0.13007061456301305,0.4852647280761204,0.37645087144182265],"tcp_quaternion_wxyz":[-8.903506559041323e-05,0.7071067209231877,0.7071068306604323,8.562343191213693e-05],"object_position_m":[-0.1254627944549442,0.4773124477344539,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4000670448014362e-13,-1.817190940737677e-11,1.8592342585575515e-18],"object_linear_velocity_m_s":[4.474302329038528e-11,3.447521622273515e-13,7.640997448226047e-15],"object_angular_velocity_rad_s":[9.92991006212684e-12,-1.2883276023565336e-09,-1.612070497964566e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494427367712,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5818005212826132,-1.5959705230072383,1.4210990252434739,-1.4215269061556568,-1.5707867633124708,-0.011001642084336674,0.0],"actuator_force":[0.1368609767050657,-19.596625075719658,-19.635133958478946,-2.543551816381523,0.008130065022214694,0.01466948838196025,-0.29225831823361514],"issued_joint_targets_rad":[-1.5821136183414297,-1.5858809028985654,1.4272317831328611,-1.4123614225882266,-1.5707882549372145,-0.011309918361890076],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.5821136183414297,-1.5858809028985654,1.4272317831328611,-1.4123614225882266,-1.5707882549372145,-0.011309918361890076],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5600000000000004,"qpos":[-1.5792114006875222,-1.583653643924662,1.4661778172301116,-1.4535685686874327,-1.570789390871122,-0.008415342995478197,0.002933086510966292,0.00015613115172190796,0.00319372812468012,-0.0034281922017611577,0.002933121747020965,0.00015638193712443912,0.003198981038205993,-0.003436838656705141,-0.12546279445437242,0.47731244773445825,0.29989224457978353,1.0,1.328179241533477e-13,-1.723716176752929e-11,1.8586227695596474e-18],"qvel":[-0.014832290064123555,-0.012926271297410905,-0.19768882728036846,0.20736582946979773,-6.74418038986009e-05,-0.014619735207832366,-0.00010854607780707185,-2.9085579143911058e-05,1.1444844874696338e-05,0.0002525693047751331,-0.000101900755473531,-6.167816828272984e-06,7.679944939256676e-05,0.00022554183111476197,2.1143841398835005e-11,1.629166673320387e-13,7.643773005787609e-15,-5.217873418708937e-12,6.772516034066062e-10,-1.7463871943161063e-20],"joint_position_rad":[-1.5792114006875222,-1.583653643924662,1.4661778172301116,-1.4535685686874327,-1.570789390871122,-0.008415342995478197],"joint_velocity_rad_s":[-0.014832290064123555,-0.012926271297410905,-0.19768882728036846,0.20736582946979773,-6.74418038986009e-05,-0.014619735207832366],"linkage_position_rad":[0.002933086510966292,0.00015613115172190796,0.00319372812468012,-0.0034281922017611577,0.002933121747020965,0.00015638193712443912,0.003198981038205993,-0.003436838656705141],"tcp_position_m":[-0.12992504500611093,0.4850079296886544,0.3781343632653571],"tcp_quaternion_wxyz":[-8.943710133967537e-05,0.7071066802966598,0.7071068711894292,8.600893883246898e-05],"object_position_m":[-0.12546279445437242,0.47731244773445825,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.328179241533477e-13,-1.723716176752929e-11,1.8586227695596474e-18],"object_linear_velocity_m_s":[2.1143841398835005e-11,1.629166673320387e-13,7.643773005787609e-15],"object_angular_velocity_rad_s":[-5.2178734187089395e-12,6.772516034066062e-10,-1.7463852295374634e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494319987578,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5821088068244868,-1.596030627724091,1.416828221779849,-1.4171825213485736,-1.5707866224638398,-0.011309920617424907,0.0],"actuator_force":[0.13810375171988198,-19.5834590798936,-19.623659988378222,-2.54355927755023,0.008128384030896996,0.014684709809881014,-0.29225817873295984],"issued_joint_targets_rad":[-1.5824222186224486,-1.5859325346680393,1.4229357678917856,-1.408014611574776,-1.5707881139134192,-0.01161851099831455],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5824222186224486,-1.5859325346680393,1.4229357678917856,-1.408014611574776,-1.5707881139134192,-0.01161851099831455],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.5800000000000004,"qpos":[-1.5795168944209321,-1.5838749103447407,1.4620708695684643,-1.449241269259131,-1.5707892794650298,-0.008720939242071684,0.002933076844366001,0.0001561299652980695,0.0031937245493622577,-0.0034281816060723765,0.002933112413691031,0.000156383842263554,0.003198989874281877,-0.003436825098672291,-0.12546279445376238,0.47731244773446296,0.29989224457978353,1.0,1.4076661153520928e-13,-1.8267154960923152e-11,1.857741117519617e-18],"qvel":[-0.014850927880267758,-0.012062630909296062,-0.19863983786679695,0.20746363578506574,-6.727473673114338e-05,-0.014634869271497037,-0.00010849970594506225,-2.9177143827574788e-05,1.2321409162565514e-05,0.0002527728386988226,-0.00010178620830808988,-5.96207298943344e-06,7.87966770760846e-05,0.0002258477283902351,2.287861109516886e-11,1.7629970064636334e-13,7.646548563349173e-15,-4.303206084574183e-12,5.584517455831426e-10,-3.1885017697552727e-20],"joint_position_rad":[-1.5795168944209321,-1.5838749103447407,1.4620708695684643,-1.449241269259131,-1.5707892794650298,-0.008720939242071684],"joint_velocity_rad_s":[-0.014850927880267758,-0.012062630909296062,-0.19863983786679695,0.20746363578506574,-6.727473673114338e-05,-0.014634869271497037],"linkage_position_rad":[0.002933076844366001,0.0001561299652980695,0.0031937245493622577,-0.0034281816060723765,0.002933112413691031,0.000156383842263554,0.003198989874281877,-0.003436825098672291],"tcp_position_m":[-0.12977948443571524,0.48475130926624227,0.37981776567017955],"tcp_quaternion_wxyz":[-8.977109400604555e-05,0.7071066440064241,0.7071069073990098,8.63234054522979e-05],"object_position_m":[-0.12546279445376238,0.47731244773446296,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4076661153520928e-13,-1.8267154960923152e-11,1.857741117519617e-18],"object_linear_velocity_m_s":[2.287861109516886e-11,1.7629970064636334e-13,7.646548563349173e-15],"object_angular_velocity_rad_s":[-4.303206084574186e-12,5.584517455831426e-10,-3.1885009642440814e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494193398489,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5824174064249803,-1.5960727912137354,1.412536981857344,-1.4128356775807538,-1.5707864810703522,-0.01161851325316606,0.0],"actuator_force":[0.1393471440110261,-19.57070937427079,-19.6118402755219,-2.5435677393179503,0.008126671011837061,0.01469992160251632,-0.29225803333158584],"issued_joint_targets_rad":[-1.5827311302017015,-1.5859659602871314,1.4186189938419653,-1.4036652570924233,-1.5707879722361597,-0.011927414942920577],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5827311302017015,-1.5859659602871314,1.4186189938419653,-1.4036652570924233,-1.5707879722361597,-0.011927414942920577],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6000000000000004,"qpos":[-1.5798227146829336,-1.5840782557430413,1.4579440960341121,-1.4449118876823543,-1.5707891650320707,-0.009026851092821652,0.00293306875418416,0.00015612877355101923,0.003193722617263088,-0.003428172481712707,0.002933104657702762,0.0001563857541666944,0.003199000396218309,-0.0034368130046346203,-0.12546279445316827,0.47731244773446757,0.29989224457978353,1.0,1.4625136460800823e-13,-1.8984189416691222e-11,1.856749217963395e-18],"qvel":[-0.014869491451244303,-0.011197539309203136,-0.19959550377362315,0.20756376584287167,-6.711912215877113e-05,-0.0146499816408469,-0.00010846990200810992,-2.926911927292317e-05,1.3191546700232319e-05,0.0002529951032729372,-0.00010168783694650067,-5.754861927803398e-06,8.079432876855855e-05,0.00022617296498268378,2.5100213119773025e-11,1.933636667497843e-13,7.65348745725308e-15,-2.724544138720309e-12,3.5335126696147004e-10,-5.821780882996332e-20],"joint_position_rad":[-1.5798227146829336,-1.5840782557430413,1.4579440960341121,-1.4449118876823543,-1.5707891650320707,-0.009026851092821652],"joint_velocity_rad_s":[-0.014869491451244303,-0.011197539309203136,-0.19959550377362315,0.20756376584287167,-6.711912215877113e-05,-0.0146499816408469],"linkage_position_rad":[0.00293306875418416,0.00015612877355101923,0.003193722617263088,-0.003428172481712707,0.002933104657702762,0.0001563857541666944,0.003199000396218309,-0.0034368130046346203],"tcp_position_m":[-0.1296339336613618,0.48449487519106155,0.38150107926684096],"tcp_quaternion_wxyz":[-9.004383900290497e-05,0.7071066115862887,0.7071069397538396,8.657380523499949e-05],"object_position_m":[-0.12546279445316827,0.47731244773446757,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4625136460800823e-13,-1.8984189416691222e-11,1.856749217963395e-18],"object_linear_velocity_m_s":[2.5100213119773025e-11,1.933636667497843e-13,7.65348745725308e-15],"object_angular_velocity_rad_s":[-2.7245441387203103e-12,3.5335126696147004e-10,-5.821789914401236e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349405073827,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5827263172829134,-1.59609695263762,1.4082251584149639,-1.4084862892885086,-1.5707863390178747,-0.01192741719737778,0.0],"actuator_force":[0.14059138053789866,-19.558378065476063,-19.599673728846938,-2.543577387364394,0.008124919313900136,0.014715111806625991,-0.292257881899573],"issued_joint_targets_rad":[-1.5830403500043841,-1.5859811146695006,1.414281308115946,-1.3993132717209038,-1.570787829795261,-0.012236627126995192],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.5830403500043841,-1.5859811146695006,1.414281308115946,-1.3993132717209038,-1.570787829795261,-0.012236627126995192],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6200000000000004,"qpos":[-1.5801288595904013,-1.5842636471780025,1.4537973945905291,-1.440580372470305,-1.570789047793361,-0.009333077856126937,0.0029330619543578504,0.00015612757636128906,0.0031937220446204236,-0.0034281645569257933,0.0029330981930481602,0.0001563876734158757,0.0031990123229485214,-0.0034368021021891054,-0.12546279445255773,0.47731244773447223,0.29989224457978353,1.0,1.5625933142605447e-13,-2.0286903724671526e-11,1.855509491913119e-18],"qvel":[-0.014887975363829409,-0.010330832676944344,-0.2005560809220599,0.20766640076229873,-6.697324032690354e-05,-0.014665060309482081,-0.0001084538280930574,-2.9361538311294075e-05,1.4058261025532975e-05,0.0002532334651220561,-0.00010160278827379257,-5.5461335887940455e-06,8.279571980932132e-05,0.0002265149620715694,2.903178086109431e-11,2.2361856311880227e-13,7.642385227006827e-15,-4.983217680852496e-13,6.446680635485159e-11,-1.0630360701531896e-19],"joint_position_rad":[-1.5801288595904013,-1.5842636471780025,1.4537973945905291,-1.440580372470305,-1.570789047793361,-0.009333077856126937],"joint_velocity_rad_s":[-0.014887975363829409,-0.010330832676944344,-0.2005560809220599,0.20766640076229873,-6.697324032690354e-05,-0.014665060309482081],"linkage_position_rad":[0.0029330619543578504,0.00015612757636128906,0.0031937220446204236,-0.0034281645569257933,0.0029330981930481602,0.0001563876734158757,0.0031990123229485214,-0.0034368021021891054],"tcp_position_m":[-0.1294883935443654,0.4842386363856145,0.38318430472535836],"tcp_quaternion_wxyz":[-9.026148327296136e-05,0.7071065826142736,0.7071069686744796,8.676644294550332e-05],"object_position_m":[-0.12546279445255773,0.47731244773447223,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5625933142605447e-13,-2.0286903724671526e-11,1.855509491913119e-18],"object_linear_velocity_m_s":[2.903178086109431e-11,2.2361856311880227e-13,7.642385227006827e-15],"object_angular_velocity_rad_s":[-4.983217680852498e-13,6.446680635485159e-11,-1.0630367874666471e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493894571476,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5830355363225481,-1.59610304740395,1.403892598791531,-1.404134269100839,-1.5707861961974006,-0.012236629381323059,0.0],"actuator_force":[0.1418366812381464,-19.546467381117054,-19.587159229172812,-2.5435883914968827,0.008123122012875683,0.014730268350147568,-0.2922577242884663],"issued_joint_targets_rad":[-1.5833498746470656,-1.5859779285578033,1.409922551798125,-1.3949585661630954,-1.570787686484823,-0.012546144173326534],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5833498746470656,-1.5859779285578033,1.409922551798125,-1.3949585661630954,-1.570787686484823,-0.012546144173326534],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6400000000000005,"qpos":[-1.5804353271157348,-1.5844310482564563,1.449630657829473,-1.4362466685327153,-1.5707889279391636,-0.009639618584396398,0.002933056210528359,0.00015612637358588803,0.0031937225991099916,-0.0034281576090473722,0.002933092785416412,0.00015638960055111437,0.0031990254247662,-0.0034367921680203166,-0.12546279445195674,0.47731244773447684,0.29989224457978353,1.0,1.5755976131864202e-13,-2.0459350336547272e-11,1.8541923024342055e-18],"qvel":[-0.01490637337127678,-0.009462343564331477,-0.20152182864359813,0.20777171291101176,-6.68355429205831e-05,-0.01468009300583318,-0.00010844916602643575,-2.9454436503994625e-05,1.4924052282716247e-05,0.00025348578958760885,-0.00010152872767071479,-5.335833622322799e-06,8.480368890959572e-05,0.00022687164463748675,3.465513488353752e-11,2.6685877253902725e-13,7.647936342129953e-15,3.0977035726470077e-12,-4.0271377773202424e-10,-1.9407726071443325e-19],"joint_position_rad":[-1.5804353271157348,-1.5844310482564563,1.449630657829473,-1.4362466685327153,-1.5707889279391636,-0.009639618584396398],"joint_velocity_rad_s":[-0.01490637337127678,-0.009462343564331477,-0.20152182864359813,0.20777171291101176,-6.68355429205831e-05,-0.01468009300583318],"linkage_position_rad":[0.002933056210528359,0.00015612637358588803,0.0031937225991099916,-0.0034281576090473722,0.002933092785416412,0.00015638960055111437,0.0031990254247662,-0.0034367921680203166],"tcp_position_m":[-0.12934286500431555,0.48398260237115065,0.38486744278444496],"tcp_quaternion_wxyz":[-9.042958775505141e-05,0.7071065567078787,0.707106994542118,8.690701904204779e-05],"object_position_m":[-0.12546279445195674,0.47731244773447684,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5755976131864202e-13,-2.0459350336547272e-11,1.8541923024342055e-18],"object_linear_velocity_m_s":[3.465513488353752e-11,2.6685877253902725e-13,7.647936342129953e-15],"object_angular_velocity_rad_s":[3.0977035726470093e-12,-4.0271377773202424e-10,-1.9407740968256852e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493726992925,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5833450601595784,-1.5960910068110514,1.3995391442895742,-1.399779527763906,-1.570786052504125,-0.012546146427768473,0.0],"actuator_force":[0.14308326082300482,-19.53497968345755,-19.57429562235893,-2.543600906696497,0.008121271811319275,0.014745378897280226,-0.2922575603287528],"issued_joint_targets_rad":[-1.5836597003978667,-1.5859563281082014,1.4055425594218005,-1.3906010491598868,-1.5707875422023034,-0.012855962356462957],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.5836597003978667,-1.5859563281082014,1.4055425594218005,-1.3906010491598868,-1.5707875422023034,-0.012855962356462957],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6600000000000005,"qpos":[-1.5807421150659946,-1.584580419031042,1.4454437728637046,-1.4319107173334207,-1.5707888056322366,-0.009946472065391844,0.0029330513307236597,0.00015612516506221543,0.0031937240905696427,-0.0034281514556580594,0.0029330882428761675,0.00015639153607714372,0.003199039514061276,-0.0034367830190446436,-0.12546279445137823,0.4773124477344812,0.29989224457978353,1.0,1.4804643077126924e-13,-1.9226754460244632e-11,1.852895032203581e-18],"qvel":[-0.01492467830297972,-0.008591899301447095,-0.2024930116756671,0.20787986712461246,-6.670463079067314e-05,-0.0146950670361637,-0.00010845402463245542,-2.954785280278748e-05,1.5791011324388935e-05,0.0002537503545249097,-0.00010146374610202105,-5.1239029253347835e-06,8.682069693150158e-05,0.0002272413574749742,4.325194999043056e-11,3.3302582595194267e-13,7.647936342129953e-15,8.64920648851732e-12,-1.1237645653340974e-09,-3.543936443353637e-19],"joint_position_rad":[-1.5807421150659946,-1.584580419031042,1.4454437728637046,-1.4319107173334207,-1.5707888056322366,-0.009946472065391844],"joint_velocity_rad_s":[-0.01492467830297972,-0.008591899301447095,-0.2024930116756671,0.20787986712461246,-6.670463079067314e-05,-0.0146950670361637],"linkage_position_rad":[0.0029330513307236597,0.00015612516506221543,0.0031937240905696427,-0.0034281514556580594,0.0029330882428761675,0.00015639153607714372,0.003199039514061276,-0.0034367830190446436],"tcp_position_m":[-0.12919734902646163,0.48372678333481445,0.38655049426198396],"tcp_quaternion_wxyz":[-9.055318389885628e-05,0.7071065335197636,0.7071070177028821,8.700068791106564e-05],"object_position_m":[-0.12546279445137823,0.4773124477344812,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4804643077126924e-13,-1.9226754460244632e-11,1.852895032203581e-18],"object_linear_velocity_m_s":[4.325194999043056e-11,3.3302582595194267e-13,7.647936342129953e-15],"object_angular_velocity_rad_s":[8.649206488517326e-12,-1.1237645653340974e-09,-3.543937906623522e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493549712368,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5836548850613135,-1.596060757633855,1.3951646296726221,-1.3954219740564122,-1.5707859078365485,-0.01285596461124306,0.0],"actuator_force":[0.14433133055399594,-19.523917485047605,-19.56108171189817,-2.543615073956971,0.008119360923160457,0.01476043069076205,-0.29225738982631894],"issued_joint_targets_rad":[-1.5839698231300026,-1.5859162344051507,1.4011411583855804,-1.3862406273942367,-1.5707873968476154,-0.013166077556339174],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5839698231300026,-1.5859162344051507,1.4011411583855804,-1.3862406273942367,-1.5707873968476154,-0.013166077556339174],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.6800000000000005,"qpos":[-1.5810492210594664,-1.5847117158617756,1.4412366211750187,-1.4275724570236292,-1.5707886810107883,-0.01025363680998655,0.002933047157724698,0.00015612395061029153,0.003193726363397176,-0.003428145947334508,0.0029330844082414284,0.00015639348046817334,0.0031990544377267015,-0.0034367745051655458,-0.12546279445081002,0.47731244773448556,0.29989224457978353,1.0,1.3453315180279242e-13,-1.747355264413023e-11,1.8515507444883768e-18],"qvel":[-0.01494288195376991,-0.007719320231272997,-0.20346990233889187,0.20799102185674667,-6.657923344527388e-05,-0.014709969112175975,-0.0001084668638568632,-2.964183003083626e-05,1.6660897880911277e-05,0.000254025778424511,-0.00010140628401737627,-4.910276917189919e-06,8.884890950654998e-05,0.0002276227939052469,2.1361257137736687e-11,1.6447136603262532e-13,7.646548563349171e-15,-5.498443500150834e-12,7.140812279048541e-10,-3.839575135380986e-20],"joint_position_rad":[-1.5810492210594664,-1.5847117158617756,1.4412366211750187,-1.4275724570236292,-1.5707886810107883,-0.01025363680998655],"joint_velocity_rad_s":[-0.01494288195376991,-0.007719320231272997,-0.20346990233889187,0.20799102185674667,-6.657923344527388e-05,-0.014709969112175975],"linkage_position_rad":[0.002933047157724698,0.00015612395061029153,0.003193726363397176,-0.003428145947334508,0.0029330844082414284,0.00015639348046817334,0.0031990544377267015,-0.0034367745051655458],"tcp_position_m":[-0.12905184667017047,0.48347119020721374,0.38823346006700055],"tcp_quaternion_wxyz":[-9.063682480496153e-05,0.7071065127337905,0.7071070384717955,8.705211054412774e-05],"object_position_m":[-0.12546279445081002,0.47731244773448556,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3453315180279242e-13,-1.747355264413023e-11,1.8515507444883768e-18],"object_linear_velocity_m_s":[2.1361257137736687e-11,1.6447136603262532e-13,7.646548563349171e-15],"object_angular_velocity_rad_s":[-5.498443500150836e-12,7.140812279048541e-10,-3.8395770841264683e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313493364124083,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5839650069002287,-1.5960122216413801,1.390768882581888,-1.3910615146941192,-1.5707857620955874,-0.013166079811664268,0.0],"actuator_force":[0.14558109998324653,-19.513283466699704,-19.547516250704575,-2.5436310209196336,0.008117380944895558,0.014775410378739195,-0.2922572125589351],"issued_joint_targets_rad":[-1.5842802382669776,-1.5858575628908107,1.3967181682711136,-1.3818772053821013,-1.5707872503222093,-0.01347648520357455],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.5842802382669776,-1.5858575628908107,1.3967181682711136,-1.3818772053821013,-1.5707872503222093,-0.01347648520357455],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7000000000000005,"qpos":[-1.5813566424990626,-1.5848248912372656,1.4370090784126073,-1.4232318225519518,-1.570788554191075,-0.010561111035892603,0.002933043562813222,0.000156122730035343,0.003193729290322564,-0.003428140961722814,0.0029330811528187214,0.00015639543417190807,0.0031990700709381087,-0.0034367665033286435,-0.1254627944501753,0.47731244773449044,0.29989224457978353,1.0,1.4370715187159266e-13,-1.8665945969878574e-11,1.849368779412672e-18],"qvel":[-0.014960974947373076,-0.006844417716102385,-0.20445278296188144,0.2081053302767336,-6.645819004888026e-05,-0.014724785156916376,-0.00010848643290050977,-2.973641571191063e-05,1.7535205067112394e-05,0.00025431096403568694,-0.00010135506922099239,-4.694884813788541e-06,9.089026771911824e-05,0.00022801494042453077,2.3182089659331357e-11,1.784781812472012e-13,7.653487457253078e-15,-4.723238535379432e-12,6.134592140073635e-10,-7.010064876397575e-20],"joint_position_rad":[-1.5813566424990626,-1.5848248912372656,1.4370090784126073,-1.4232318225519518,-1.570788554191075,-0.010561111035892603],"joint_velocity_rad_s":[-0.014960974947373076,-0.006844417716102385,-0.20445278296188144,0.2081053302767336,-6.645819004888026e-05,-0.014724785156916376],"linkage_position_rad":[0.002933043562813222,0.000156122730035343,0.003193729290322564,-0.003428140961722814,0.0029330811528187214,0.00015639543417190807,0.0031990700709381087,-0.0034367665033286435],"tcp_position_m":[-0.12890635907867995,0.4832158347525079,0.38991634121347823],"tcp_quaternion_wxyz":[-9.068463152764036e-05,0.7071064940613683,0.7071070571364249,8.706550220588045e-05],"object_position_m":[-0.1254627944501753,0.47731244773449044,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4370715187159266e-13,-1.8665945969878574e-11,1.849368779412672e-18],"object_linear_velocity_m_s":[2.3182089659331357e-11,1.784781812472012e-13,7.653487457253078e-15],"object_angular_velocity_rad_s":[-4.723238535379434e-12,6.134592140073635e-10,-7.010065924171546e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349317136376,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5842754210991727,-1.5959453150296579,1.3863517228543132,-1.3866980542211786,-1.5707856151836757,-0.013476487459636045,0.0],"actuator_force":[0.14683277872927647,-19.50308049834348,-19.53359793183563,-2.543648862286773,0.008115322704611572,0.014790303819916417,-0.29225702827098965],"issued_joint_targets_rad":[-1.5845909407175789,-1.5857802226890958,1.3922734000391448,-1.3775106853472892,-1.5707871025281317,-0.013787180214575326],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.5845909407175789,-1.5857802226890958,1.3922734000391448,-1.3775106853472892,-1.5707871025281317,-0.013787180214575326],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7200000000000005,"qpos":[-1.5816643765418257,-1.5849198935496294,1.4327610141351288,-1.4188887457518677,-1.570788425269687,-0.010868892646774818,0.002933040440652045,0.0001561215031287794,0.0031937327673041763,-0.0034281363986721596,0.002933078371286444,0.00015639739761221725,0.0031990863120557192,-0.0034367589126626046,-0.1254627944495553,0.47731244773449527,0.29989224457978353,1.0,1.504282958955489e-13,-1.9538995173877574e-11,1.8469028197780866e-18],"qvel":[-0.014978946568446585,-0.005966991844517012,-0.2054419486362477,0.20822294133261116,-6.634043159752826e-05,-0.014739500082485276,-0.00010851171975508032,-2.983166296124008e-05,1.841521315893225e-05,0.00025460505086061675,-0.00010130906606421706,-4.47764852342594e-06,9.294654936798429e-05,0.0002284170317356029,2.537366273545779e-11,1.9534957540038447e-13,7.652099678472295e-15,-3.296596566060462e-12,4.281964548084357e-10,-1.279917318503583e-19],"joint_position_rad":[-1.5816643765418257,-1.5849198935496294,1.4327610141351288,-1.4188887457518677,-1.570788425269687,-0.010868892646774818],"joint_velocity_rad_s":[-0.014978946568446585,-0.005966991844517012,-0.2054419486362477,0.20822294133261116,-6.634043159752826e-05,-0.014739500082485276],"linkage_position_rad":[0.002933040440652045,0.0001561215031287794,0.0031937327673041763,-0.0034281363986721596,0.002933078371286444,0.00015639739761221725,0.0031990863120557192,-0.0034367589126626046],"tcp_position_m":[-0.1287608874904294,0.48296072967365095,0.39159913883641706],"tcp_quaternion_wxyz":[-9.070033500732357e-05,0.7071064772380534,0.7071070739602757,8.704467558222492e-05],"object_position_m":[-0.1254627944495553,0.47731244773449527,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.504282958955489e-13,-1.9538995173877574e-11,1.8469028197780866e-18],"object_linear_velocity_m_s":[2.537366273545779e-11,1.9534957540038447e-13,7.652099678472295e-15],"object_angular_velocity_rad_s":[-3.2965965660604636e-12,4.281964548084357e-10,-1.2799173049313656e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313492972355196,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5845861225663742,-1.5958599477502315,1.3819129617189705,-1.3823314948853436,-1.570785467003841,-0.013787182471550913,0.0],"actuator_force":[0.14808657828189098,-19.493311663397435,-19.519325377817495,-2.5436686999991025,0.008113176082929385,0.014805095860479511,-0.292256836667828],"issued_joint_targets_rad":[-1.5849019247979135,-1.5856841157984363,1.3878066550741095,-1.3731409670764843,-1.570786953367026,-0.014098156913705293],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5849019247979135,-1.5856841157984363,1.3878066550741095,-1.3731409670764843,-1.570786953367026,-0.014098156913705293],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7400000000000005,"qpos":[-1.5819724200635992,-1.5849966668153526,1.4284922914876865,-1.4145431554068737,-1.5707882943255411,-0.011176979205966662,0.002933037705095236,0.00015612026966980752,0.0031937367093490027,-0.0034281321762666293,0.002933075977503714,0.00015639937119090082,0.0031991030784466906,-0.0034367516504969944,-0.1254627944489528,0.4773124477344998,0.29989224457978353,1.0,1.5344096407390574e-13,-1.9929726180877396e-11,1.8441776303512847e-18],"qvel":[-0.01499678455420575,-0.0050868287468092055,-0.2064377104078805,0.20834400079931686,-6.622496390252282e-05,-0.014754097529697977,-0.00010854191026771082,-2.9927631584282635e-05,1.9302035155407952e-05,0.00025490737977478347,-0.00010126743410201953,-4.258481437962416e-06,9.501942376732606e-05,0.00022882851674551445,2.8398600430500107e-11,2.1864939001102555e-13,7.646548563349168e-15,-9.695060930359379e-13,1.259783407480336e-10,-2.336728182462774e-19],"joint_position_rad":[-1.5819724200635992,-1.5849966668153526,1.4284922914876865,-1.4145431554068737,-1.5707882943255411,-0.011176979205966662],"joint_velocity_rad_s":[-0.01499678455420575,-0.0050868287468092055,-0.2064377104078805,0.20834400079931686,-6.622496390252282e-05,-0.014754097529697977],"linkage_position_rad":[0.002933037705095236,0.00015612026966980752,0.0031937367093490027,-0.0034281321762666293,0.002933075977503714,0.00015639937119090082,0.0031991030784466906,-0.0034367516504969944],"tcp_position_m":[-0.12861543325233496,0.4827058887361149,0.3932818542106661],"tcp_quaternion_wxyz":[-9.068731408477457e-05,0.7071064620203487,0.707107089185987,8.699307986664589e-05],"object_position_m":[-0.1254627944489528,0.4773124477344998,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5344096407390574e-13,-1.9929726180877396e-11,1.8441776303512847e-18],"object_linear_velocity_m_s":[2.8398600430500107e-11,2.1864939001102555e-13,7.646548563349168e-15],"object_angular_velocity_rad_s":[-9.695060930359383e-13,1.259783407480336e-10,-2.336728017520936e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349276784861,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5848971056174987,-1.5957560227084673,1.3774524008420521,-1.3779617364933017,-1.5707853174587245,-0.014098159171760487,0.0],"actuator_force":[0.14934271388347042,-19.4839802875058,-19.50469712811673,-2.5436906231457215,0.008110929798590405,0.014819770072884708,-0.2922566374080989],"issued_joint_targets_rad":[-1.5852131841378927,-1.585569136119608,1.383317724038656,-1.3687679477495882,-1.5707868027390524,-0.014409408939924984],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5852131841378927,-1.585569136119608,1.383317724038656,-1.3687679477495882,-1.5707868027390524,-0.014409408939924984],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7600000000000006,"qpos":[-1.5822807696177361,-1.5850551503319579,1.4242027668021804,-1.4101949772930638,-1.5707881614216164,-0.011485367903829006,0.00293303528576144,0.0001561190294259318,0.0031937410470883735,-0.0034281282275701996,0.0029330739010818845,0.00015640135528787802,0.003199120303055636,-0.0034367446491052854,-0.12546279444837252,0.4773124477345043,0.29989224457978353,1.0,1.5083105070716468e-13,-1.959272308190282e-11,1.8412821733407007e-18],"qvel":[-0.015014474838428646,-0.004203697399725475,-0.2074403990412869,0.2084686523345442,-6.61108509878536e-05,-0.014768559561410457,-0.00010857635506128686,-3.0024389497227923e-05,2.0196655427694887e-05,0.00025521746328071405,-0.00010122949448525189,-4.03728677035157e-06,9.711050178200414e-05,0.00022924903187429937,3.3053738542740766e-11,2.5443949976287915e-13,7.652099678472295e-15,2.6038669577484094e-12,-3.385999118789671e-10,-4.2662470936271366e-19],"joint_position_rad":[-1.5822807696177361,-1.5850551503319579,1.4242027668021804,-1.4101949772930638,-1.5707881614216164,-0.011485367903829006],"joint_velocity_rad_s":[-0.015014474838428646,-0.004203697399725475,-0.2074403990412869,0.2084686523345442,-6.61108509878536e-05,-0.014768559561410457],"linkage_position_rad":[0.00293303528576144,0.0001561190294259318,0.0031937410470883735,-0.0034281282275701996,0.0029330739010818845,0.00015640135528787802,0.003199120303055636,-0.0034367446491052854],"tcp_position_m":[-0.1284699978354415,0.4824513269143403,0.3949644887731979],"tcp_quaternion_wxyz":[-9.064862999653805e-05,0.7071064481826418,0.7071071030383865,8.691383620125417e-05],"object_position_m":[-0.12546279444837252,0.4773124477345043,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5083105070716468e-13,-1.959272308190282e-11,1.8412821733407007e-18],"object_linear_velocity_m_s":[3.3053738542740766e-11,2.5443949976287915e-13,7.652099678472295e-15],"object_angular_velocity_rad_s":[2.6038669577484106e-12,-3.385999118789671e-10,-4.266248184351792e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313492558452068,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5852083638821572,-1.5956334347982384,1.3729698311818328,-1.3735886762412828,-1.570785166449521,-0.014409411199214536,0.0],"actuator_force":[0.15060140652894916,-19.475089972670503,-19.489711624180018,-2.543714707563936,0.008108571146635768,0.014834308448281597,-0.29225643009443353],"issued_joint_targets_rad":[-1.5855247115672684,-1.5854351682737196,1.378806385486538,-1.3643915217388913,-1.5707866505416777,-0.014720929133014303],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.5855247115672684,-1.5854351682737196,1.378806385486538,-1.3643915217388913,-1.5707866505416777,-0.014720929133014303],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.7800000000000006,"qpos":[-1.5825894208708768,-1.5850952797908155,1.4198923411768942,-1.4058441340803243,-1.5707880265786354,-0.011794055517802224,0.0029330331408881265,0.00015611787867227895,0.0031937453753752513,-0.003428124926366421,0.0029330720801383835,0.00015640335168457255,0.003199137266151029,-0.003436738278627656,-0.12546279444782255,0.47731244773450854,0.29989224457978353,1.0,1.3991713737157028e-13,-1.8178021886125917e-11,1.8384306408150477e-18],"qvel":[-0.01503204182438403,-0.003317010800396237,-0.20845046885872234,0.2085971272366537,-6.599104812528166e-05,-0.014782866326889367,-0.00010860107912145005,-3.012488005812065e-05,2.113942559179537e-05,0.0002555082129290978,-0.00010118020227979348,-3.802558656969762e-06,9.931410678769977e-05,0.00022966571185506019,4.070365385531968e-11,3.1325044911164953e-13,7.645160784568388e-15,7.908039252313345e-12,-1.0283019445590153e-09,-7.78894899511018e-19],"joint_position_rad":[-1.5825894208708768,-1.5850952797908155,1.4198923411768942,-1.4058441340803243,-1.5707880265786354,-0.011794055517802224],"joint_velocity_rad_s":[-0.01503204182438403,-0.003317010800396237,-0.20845046885872234,0.2085971272366537,-6.599104812528166e-05,-0.014782866326889367],"linkage_position_rad":[0.0029330331408881265,0.00015611787867227895,0.0031937453753752513,-0.003428124926366421,0.0029330720801383835,0.00015640335168457255,0.003199137266151029,-0.003436738278627656],"tcp_position_m":[-0.128324583231277,0.4821970501508377,0.3966470195306059],"tcp_quaternion_wxyz":[-9.056937076041947e-05,0.7071064353341617,0.7071071159120198,8.679164075366468e-05],"object_position_m":[-0.12546279444782255,0.47731244773450854,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3991713737157028e-13,-1.8178021886125917e-11,1.8384306408150477e-18],"object_linear_velocity_m_s":[4.070365385531968e-11,3.1325044911164953e-13,7.645160784568388e-15],"object_angular_velocity_rad_s":[7.908039252313349e-12,-1.0283019445590153e-09,-7.788951486186808e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313492355696372,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.585519890206348,-1.5954920696797954,1.3684650315610638,-1.3692122083686429,-1.5707850138756099,-0.014720931393750386,0.0],"actuator_force":[0.15187805881123495,-19.466775457801305,-19.47443168817199,-2.5437498678246584,0.00810545632521098,0.014848694714856059,-0.29225635464431926],"issued_joint_targets_rad":[-1.5858364965063403,-1.5852821038058078,1.3742724824737298,-1.3600116407618164,-1.5707864968433265,-0.015032706930016505],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5858364965063403,-1.5852821038058078,1.3742724824737298,-1.3600116407618164,-1.5707864968433265,-0.015032706930016505],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8000000000000006,"qpos":[-1.5828983694145855,-1.5851169847063689,1.415560909519469,-1.401490550210929,-1.5707878898500716,-0.012103038137247434,0.0029330312827147006,0.00015611682586260856,0.003193749677743393,-0.0034281223360975006,0.002933070528165932,0.00015640537273229404,0.0031991539580150997,-0.0034367326145897654,-0.12546279444728758,0.47731244773451265,0.29989224457978353,1.0,1.262854996548249e-13,-1.640985419651583e-11,1.8354761289444824e-18],"qvel":[-0.015049461684584929,-0.0024265518064946496,-0.20946817179406552,0.20872928860758483,-6.586656779013004e-05,-0.014796984216632779,-0.000108615841107124,-3.023084925672184e-05,2.2134283204362385e-05,0.00025579013090640165,-0.00010111922071085005,-3.5560772484908486e-06,0.000101634058526656,0.0002300885407236454,2.0096758483484948e-11,1.546648399400182e-13,7.643773005787606e-15,-5.1942982030812154e-12,6.748722127381104e-10,-8.4385864116691e-20],"joint_position_rad":[-1.5828983694145855,-1.5851169847063689,1.415560909519469,-1.401490550210929,-1.5707878898500716,-0.012103038137247434],"joint_velocity_rad_s":[-0.015049461684584929,-0.0024265518064946496,-0.20946817179406552,0.20872928860758483,-6.586656779013004e-05,-0.014796984216632779],"linkage_position_rad":[0.0029330312827147006,0.00015611682586260856,0.003193749677743393,-0.0034281223360975006,0.002933070528165932,0.00015640537273229404,0.0031991539580150997,-0.0034367326145897654],"tcp_position_m":[-0.12817919140982267,0.48194306738358794,0.3983294231586504],"tcp_quaternion_wxyz":[-9.043525545348649e-05,0.7071064233007771,0.7071071279846066,8.661182168578257e-05],"object_position_m":[-0.12546279444728758,0.47731244773451265,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.262854996548249e-13,-1.640985419651583e-11,1.8354761289444824e-18],"object_linear_velocity_m_s":[2.0096758483484948e-11,1.546648399400182e-13,7.643773005787606e-15],"object_angular_velocity_rad_s":[-5.194298203081218e-12,6.748722127381104e-10,-8.4385886319845e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349216027749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5858316740134581,-1.5953318201067073,1.3639378453120043,-1.3648322844473761,-1.570784859806876,-0.015032709192472182,0.0],"actuator_force":[0.1531754760885633,-19.459050078079144,-19.45885969730307,-2.543795978982189,0.008101678376760901,0.014862894050903463,-0.2922564152349417],"issued_joint_targets_rad":[-1.5861485269383124,-1.585109817681674,1.3697158394787925,-1.3556282545941332,-1.570786341695404,-0.015344730332597936],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.5861485269383124,-1.585109817681674,1.3697158394787925,-1.3556282545941332,-1.570786341695404,-0.015344730332597936],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8200000000000006,"qpos":[-1.5832076106082844,-1.5851201879519479,1.4112083095142531,-1.397134152642491,-1.5707877513246853,-0.012412311082561533,0.0029330297094704648,0.00015611577666795574,0.0031937543013777414,-0.003428120050899915,0.002933069262941889,0.000156407416893415,0.0031991710340558287,-0.003436727254909571,-0.12546279444665118,0.47731244773451753,0.29989224457978353,1.0,1.4122952262047492e-13,-1.835173408905781e-11,1.8300817564782475e-18],"qvel":[-0.015066661288787062,-0.0015323933948594133,-0.21049373268286722,0.20886493253983035,-6.574319539385439e-05,-0.014810876228717204,-0.00010863396463804737,-3.0339646577662537e-05,2.314378944747381e-05,0.00025608978618535904,-0.00010106085985097274,-3.3088394255582986e-06,0.00010398213156059608,0.0002305309569168685,2.2566938836595213e-11,1.7367119310542124e-13,7.649324120910733e-15,-4.772855719350824e-12,6.201907250294794e-10,-1.540721660429916e-19],"joint_position_rad":[-1.5832076106082844,-1.5851201879519479,1.4112083095142531,-1.397134152642491,-1.5707877513246853,-0.012412311082561533],"joint_velocity_rad_s":[-0.015066661288787062,-0.0015323933948594133,-0.21049373268286722,0.20886493253983035,-6.574319539385439e-05,-0.014810876228717204],"linkage_position_rad":[0.0029330297094704648,0.00015611577666795574,0.0031937543013777414,-0.003428120050899915,0.002933069262941889,0.000156407416893415,0.0031991710340558287,-0.003436727254909571],"tcp_position_m":[-0.12803382426700324,0.4816894004173573,0.40001170065631453],"tcp_quaternion_wxyz":[-9.025054713030392e-05,0.7071064120957089,0.7071071392417776,8.637870603546239e-05],"object_position_m":[-0.12546279444665118,0.47731244773451753,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4122952262047492e-13,-1.835173408905781e-11,1.8300817564782475e-18],"object_linear_velocity_m_s":[2.2566938836595213e-11,1.7367119310542124e-13,7.649324120910733e-15],"object_angular_velocity_rad_s":[-4.7728557193508264e-12,6.201907250294794e-10,-1.5407216792094641e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349196140887,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.586143703272941,-1.5951525624093963,1.3593880972350365,-1.3604488542594262,-1.5707847042956489,-0.015344732597037418,0.0],"actuator_force":[0.15447918620111523,-19.45179155695314,-19.442931485286863,-2.5438440624507166,0.0080978340575939,0.014876865633778102,-0.2922564744981726],"issued_joint_targets_rad":[-1.5864607914452977,-1.5849181500213654,1.3651361830997977,-1.3512412503034468,-1.5707861849531382,-0.015656987938362663],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.5864607914452977,-1.5849181500213654,1.3651361830997977,-1.3512412503034468,-1.5707861849531382,-0.015656987938362663],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8400000000000006,"qpos":[-1.5835171385910758,-1.585104806725646,1.4068343691655072,-1.3927748655318388,-1.5707876110461243,-0.012721869027284595,0.002933028375373991,0.00015611472191411584,0.0031937592240317615,-0.0034281179767679886,0.0029330682371856475,0.00015640947187626548,0.0031991884682696214,-0.0034367220911399477,-0.12546279444601846,0.4773124477345224,0.29989224457978353,1.0,1.518055908144121e-13,-1.9722804880059026e-11,1.8239612963712456e-18],"qvel":[-0.0150836075730902,-0.0006341657319533547,-0.21152767200339007,0.20900424122095426,-6.561876807876778e-05,-0.014824511684450085,-0.00010865564168388029,-3.0449824310541516e-05,2.4165912962287837e-05,0.0002563977379815653,-0.00010100529177796514,-3.058808676449031e-06,0.00010635845283752693,0.0002309843225868738,2.5173756881668187e-11,1.9376388548967308e-13,7.647936342129951e-15,-3.659718789146773e-12,4.756378443866386e-10,-2.8130509596227226e-19],"joint_position_rad":[-1.5835171385910758,-1.585104806725646,1.4068343691655072,-1.3927748655318388,-1.5707876110461243,-0.012721869027284595],"joint_velocity_rad_s":[-0.0150836075730902,-0.0006341657319533547,-0.21152767200339007,0.20900424122095426,-6.561876807876778e-05,-0.014824511684450085],"linkage_position_rad":[0.002933028375373991,0.00015611472191411584,0.0031937592240317615,-0.0034281179767679886,0.0029330682371856475,0.00015640947187626548,0.0031991884682696214,-0.0034367220911399477],"tcp_position_m":[-0.12788848423900806,0.48143607292810564,0.40169385409483327],"tcp_quaternion_wxyz":[-9.001994003748953e-05,0.7071064015293639,0.7071071498718585,8.609704124546922e-05],"object_position_m":[-0.12546279444601846,0.4773124477345224,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.518055908144121e-13,-1.9722804880059026e-11,1.8239612963712456e-18],"object_linear_velocity_m_s":[2.5173756881668187e-11,1.9376388548967308e-13,7.647936342129951e-15],"object_angular_velocity_rad_s":[-3.659718789146774e-12,4.756378443866386e-10,-2.813050468334991e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349175876144,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5864559665665037,-1.594954138137753,1.354815514261382,-1.356061804898244,-1.5707845471988684,-0.01565699020503399,0.0],"actuator_force":[0.15578707837994443,-19.444996531432935,-19.426641006894442,-2.543893805298012,0.008093800435744924,0.014890579570312035,-0.2922565259606727],"issued_joint_targets_rad":[-1.586773276610989,-1.5847069223657921,1.360533215077152,-1.3468505087453604,-1.5707860264535525,-0.015969466349602356],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.586773276610989,-1.5847069223657921,1.360533215077152,-1.3468505087453604,-1.5707860264535525,-0.015969466349602356],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8600000000000007,"qpos":[-1.5838269467064439,-1.5850707494212954,1.4024389047346664,-1.3884126089527251,-1.5707874690369772,-0.013031705880640376,0.0029330272407527107,0.00015611366151002817,0.0031937644085614017,-0.0034281160782714632,0.0029330674108685325,0.0001564115376733503,0.0031992062248304936,-0.00343671708484397,-0.12546279444539588,0.47731244773452713,0.29989224457978353,1.0,1.5757762316529587e-13,-2.0467011402587652e-11,1.8171512785091482e-18],"qvel":[-0.015100267236395523,0.0002685717679658129,-0.21257056747982062,0.20914741071560855,-6.549200449875146e-05,-0.014837853679475623,-0.00010868064763182022,-3.056154142641345e-05,2.5201291166876808e-05,0.0002567140775977687,-0.0001009521901513017,-2.805677969631738e-06,0.00010876527318411288,0.00023144871180844073,2.8305634382456324e-11,2.1792858609877483e-13,7.650711899691515e-15,-1.6084609539828948e-12,2.0929648374981936e-10,-5.136059782554134e-19],"joint_position_rad":[-1.5838269467064439,-1.5850707494212954,1.4024389047346664,-1.3884126089527251,-1.5707874690369772,-0.013031705880640376],"joint_velocity_rad_s":[-0.015100267236395523,0.0002685717679658129,-0.21257056747982062,0.20914741071560855,-6.549200449875146e-05,-0.014837853679475623],"linkage_position_rad":[0.0029330272407527107,0.00015611366151002817,0.0031937644085614017,-0.0034281160782714632,0.0029330674108685325,0.0001564115376733503,0.0031992062248304936,-0.00343671708484397],"tcp_position_m":[-0.12774317407698493,0.4811831112902444,0.4033758859721707],"tcp_quaternion_wxyz":[-8.974773086179367e-05,0.7071063914011282,0.7071071600742889,8.577116315835307e-05],"object_position_m":[-0.12546279444539588,0.47731244773452713,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5757762316529587e-13,-2.0467011402587652e-11,1.8171512785091482e-18],"object_linear_velocity_m_s":[2.8305634382456324e-11,2.1792858609877483e-13,7.650711899691515e-15],"object_angular_velocity_rad_s":[-1.6084609539828956e-12,2.0929648374981936e-10,-5.136058581478927e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313491552653973,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5867684504790407,-1.594736370427184,1.3502197984819901,-1.3516710172419244,-1.5707843883554675,-0.015969468618738644,0.0],"actuator_force":[0.15709934936421632,-19.43867071896375,-19.40998551342409,-2.543945216160523,0.008089541204640227,0.014903998898428306,-0.29225656839214653],"issued_joint_targets_rad":[-1.5870859668343043,-1.5844759334343406,1.355906609288133,-1.3424559057975982,-1.5707858660214034,-0.016282149987095006],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5870859668343043,-1.5844759334343406,1.355906609288133,-1.3424559057975982,-1.5707858660214034,-0.016282149987095006],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.8800000000000007,"qpos":[-1.5841370273911917,-1.5850179142175715,1.3980217192936901,-1.3840472987624928,-1.5707873253048497,-0.013341814652516815,0.0029330262736816967,0.00015611259532437004,0.003193769821850853,-0.0034281143262676395,0.0029330667518392734,0.00015641361443902762,0.003199224271758902,-0.0034367122056103475,-0.12546279444479086,0.4773124477345318,0.29989224457978353,1.0,1.5731994178661214e-13,-2.043166862329794e-11,1.8098268876982612e-18],"qvel":[-0.01511660108167796,0.0011763255245094536,-0.21362307010009784,0.20929464091664665,-6.536163381663191e-05,-0.014850858833129211,-0.00010870879946252135,-3.0675000368165486e-05,2.625101859297282e-05,0.0002570390073986556,-0.00010090129169277264,-2.54917561160885e-06,0.00011120549936108391,0.00023192472858745027,3.275280004833202e-11,2.5219380294779037e-13,7.649324120910733e-15,1.684421953939211e-12,-2.187070077132487e-10,-9.37745713191594e-19],"joint_position_rad":[-1.5841370273911917,-1.5850179142175715,1.3980217192936901,-1.3840472987624928,-1.5707873253048497,-0.013341814652516815],"joint_velocity_rad_s":[-0.01511660108167796,0.0011763255245094536,-0.21362307010009784,0.20929464091664665,-6.536163381663191e-05,-0.014850858833129211],"linkage_position_rad":[0.0029330262736816967,0.00015611259532437004,0.003193769821850853,-0.0034281143262676395,0.0029330667518392734,0.00015641361443902762,0.003199224271758902,-0.0034367122056103475],"tcp_position_m":[-0.12759789688619438,0.4809305451112941,0.4050577992072463],"tcp_quaternion_wxyz":[-8.943778315478662e-05,0.7071063815078441,0.7071071700511583,8.540496257487336e-05],"object_position_m":[-0.12546279444479086,0.4773124477345318,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5731994178661214e-13,-2.043166862329794e-11,1.8098268876982612e-18],"object_linear_velocity_m_s":[3.275280004833202e-11,2.5219380294779037e-13,7.649324120910733e-15],"object_angular_velocity_rad_s":[1.6844219539392117e-12,-2.187070077132487e-10,-9.37745696036668e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313491343393138,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5870811394113653,-1.5944990597887765,1.345600624143484,-1.3472763671851034,-1.5707842275923936,-0.01628215225891647,0.0],"actuator_force":[0.158416392323943,-19.432821352213523,-19.392962260373224,-2.5439983029698396,0.008085019609666233,0.014917080113093562,-0.292256600820272],"issued_joint_targets_rad":[-1.5873988438240276,-1.5842249538695015,1.351256005908172,-1.338057311793554,-1.5707857034653994,-0.01659502058559511],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5873988438240276,-1.5842249538695015,1.351256005908172,-1.338057311793554,-1.5707857034653994,-0.01659502058559511],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9000000000000007,"qpos":[-1.5844473719930452,-1.584946187432189,1.3935826008563348,-1.3796788464672924,-1.5707871798437576,-0.013652187284552567,0.0029330254492235482,0.00015611152332630686,0.003193775436729805,-0.003428112698698691,0.0029330662348470826,0.0001564157022401005,0.0031992425822922883,-0.0034367074299265785,-0.12546279444421266,0.47731244773453624,0.29989224457978353,1.0,1.4885253407437045e-13,-1.9330508628772507e-11,1.8024352399964077e-18],"qvel":[-0.015132562025285998,0.0020896845161318942,-0.21468592485660432,0.20944613734459508,-6.522630069826436e-05,-0.014863475593976813,-0.00010874000749987963,-3.0790449597084336e-05,2.7316330539857736e-05,0.00025737288091423393,-0.00010085240964665917,-2.2889722034984214e-06,0.00011368258117162566,0.00023241321752373733,3.9812429457171567e-11,3.0659345169395294e-13,7.639609669445264e-15,6.6689728716515515e-12,-8.656656674425351e-10,-1.7120412252838628e-18],"joint_position_rad":[-1.5844473719930452,-1.584946187432189,1.3935826008563348,-1.3796788464672924,-1.5707871798437576,-0.013652187284552567],"joint_velocity_rad_s":[-0.015132562025285998,0.0020896845161318942,-0.21468592485660432,0.20944613734459508,-6.522630069826436e-05,-0.014863475593976813],"linkage_position_rad":[0.0029330254492235482,0.00015611152332630686,0.003193775436729805,-0.003428112698698691,0.0029330662348470826,0.0001564157022401005,0.0031992425822922883,-0.0034367074299265785],"tcp_position_m":[-0.1274526561976405,0.4806784078905531,0.40673959722442865],"tcp_quaternion_wxyz":[-8.909355826019332e-05,0.7071063716390427,0.7071071800119693,8.500191665598227e-05],"object_position_m":[-0.12546279444421266,0.47731244773453624,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4885253407437045e-13,-1.9330508628772507e-11,1.8024352399964077e-18],"object_linear_velocity_m_s":[3.9812429457171567e-11,3.0659345169395294e-13,7.639609669445264e-15],"object_angular_velocity_rad_s":[6.668972871651555e-12,-8.656656674425351e-10,-1.7120411090651017e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313491131246263,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5873940150749384,-1.5942419788878122,1.3409576318107213,-1.3428777250723285,-1.570784064720923,-0.016595022860311056,0.0],"actuator_force":[0.15973864632815094,-19.427456717698533,-19.37556814858499,-2.544053036977516,0.008080191487124466,0.014929771518437107,-0.2922566221177988],"issued_joint_targets_rad":[-1.5877118859134844,-1.583953719190485,1.346581003348338,-1.333654590530543,-1.5707855385722076,-0.016908056509701234],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5877118859134844,-1.583953719190485,1.346581003348338,-1.333654590530543,-1.5707855385722076,-0.016908056509701234],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9200000000000007,"qpos":[-1.5847579705323136,-1.5848554413952343,1.3891213199474122,-1.3753071590073445,-1.5707870326349203,-0.013962814432677715,0.002933024748579625,0.00015611044558510833,0.003193781230999922,-0.0034281111798912015,0.0029330658406638197,0.00015641780098232664,0.0031992611336345,-0.0034367027405357293,-0.12546279444367545,0.47731244773454035,0.29989224457978353,1.0,1.2877018945782213e-13,-1.6721214975482814e-11,1.7959410606061864e-18],"qvel":[-0.015148092849568843,0.0030093451263537977,-0.21575999923496975,0.20960211491964506,-6.508450217802879e-05,-0.014875641882896869,-0.0001087742833554941,-3.090820122774124e-05,2.8398631882982924e-05,0.00025771626275568045,-0.00010080543516103727,-2.024662055539485e-06,0.00011620067718517425,0.00023291535857976317,2.04572477821428e-11,1.5753898221249832e-13,7.645160784568391e-15,-5.508938558716234e-12,7.153959196930312e-10,-1.854841342727106e-19],"joint_position_rad":[-1.5847579705323136,-1.5848554413952343,1.3891213199474122,-1.3753071590073445,-1.5707870326349203,-0.013962814432677715],"joint_velocity_rad_s":[-0.015148092849568843,0.0030093451263537977,-0.21575999923496975,0.20960211491964506,-6.508450217802879e-05,-0.014875641882896869],"linkage_position_rad":[0.002933024748579625,0.00015611044558510833,0.003193781230999922,-0.0034281111798912015,0.0029330658406638197,0.00015641780098232664,0.0031992611336345,-0.0034367027405357293],"tcp_position_m":[-0.12730745606244653,0.4804267378670036,0.4084212840697762],"tcp_quaternion_wxyz":[-8.871814682016181e-05,0.7071063615695545,0.7071071901810195,8.456512059656514e-05],"object_position_m":[-0.12546279444367545,0.47731244773454035,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.2877018945782213e-13,-1.6721214975482814e-11,1.7959410606061864e-18],"object_linear_velocity_m_s":[2.04572477821428e-11,1.5753898221249832e-13,7.645160784568391e-15],"object_angular_velocity_rad_s":[-5.5089385587162365e-12,7.153959196930312e-10,-1.854841232283322e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313490916454242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587707055806772,-1.5939648655408605,1.3362904203058503,-1.3384749547061259,-1.5707838995307948,-0.016908058787512035,0.0],"actuator_force":[0.16106659091019537,-19.422586341794158,-19.35779958913554,-2.544109341355238,0.008075002280520494,0.014942010872527334,-0.2922566308695896],"issued_joint_targets_rad":[-1.5880250671297234,-1.583661920152677,1.3418811472227266,-1.3292475979113851,-1.5707853710982476,-0.01722123182466794],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5880250671297234,-1.583661920152677,1.3418811472227266,-1.3292475979113851,-1.5707853710982476,-0.01722123182466794],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9400000000000007,"qpos":[-1.5850688113892826,-1.5847455316429047,1.3846376263942108,-1.3709321384303084,-1.5707868836472756,-0.014273685182574467,0.00293302415851698,0.00015610936230987983,0.003193787186396654,-0.0034281097601979744,0.0029330655554646737,0.00015641991032290149,0.0031992799054371005,-0.003436698126042923,-0.12546279444305508,0.47731244773454506,0.29989224457978353,1.0,1.3759229367515773e-13,-1.78647613848023e-11,1.784083945918887e-18],"qvel":[-0.015163123131365822,0.0039361458096765015,-0.2168463227273526,0.20976280298767003,-6.493450832515017e-05,-0.01488728183725763,-0.0001088117489212651,-3.1028653045400066e-05,2.949958552831639e-05,0.0002580699736663635,-0.00010076033781321534,-1.7557340639352802e-06,0.00011876493978177557,0.00023343275861882108,2.207215379209807e-11,1.699940343953673e-13,7.645160784568393e-15,-4.848985643765452e-12,6.296302686762549e-10,-3.3866239218630096e-19],"joint_position_rad":[-1.5850688113892826,-1.5847455316429047,1.3846376263942108,-1.3709321384303084,-1.5707868836472756,-0.014273685182574467],"joint_velocity_rad_s":[-0.015163123131365822,0.0039361458096765015,-0.2168463227273526,0.20976280298767003,-6.493450832515017e-05,-0.01488728183725763],"linkage_position_rad":[0.00293302415851698,0.00015610936230987983,0.003193787186396654,-0.0034281097601979744,0.0029330655554646737,0.00015641991032290149,0.0031992799054371005,-0.003436698126042923],"tcp_position_m":[-0.1271623011760414,0.48017557913252795,0.4101028645645993],"tcp_quaternion_wxyz":[-8.831429557226374e-05,0.7071063510495883,0.7071072008073191,8.409731435782524e-05],"object_position_m":[-0.12546279444305508,0.47731244773454506,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3759229367515773e-13,-1.78647613848023e-11,1.784083945918887e-18],"object_linear_velocity_m_s":[2.207215379209807e-11,1.699940343953673e-13,7.645160784568393e-15],"object_angular_velocity_rad_s":[-4.848985643765455e-12,6.296302686762549e-10,-3.386623795836004e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093134906992492,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880202356389383,-1.593667413132618,1.3315985356777285,-1.3340679119881822,-1.5707837317821802,-0.017221234105767015,0.0],"actuator_force":[0.1624007532345786,-19.41822130329774,-19.339652342023783,-2.5441670777039462,0.00806938338018881,0.014953722129490643,-0.2922566252654103],"issued_joint_targets_rad":[-1.5883383559022437,-1.5833491892384999,1.3371559149085328,-1.324836180061181,-1.570785200758204,-0.017534515007456647],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.5883383559022437,-1.5833491892384999,1.3371559149085328,-1.324836180061181,-1.570785200758204,-0.017534515007456647],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9600000000000007,"qpos":[-1.585379880886061,-1.5846162931455625,1.3801312450149688,-1.3665536814114032,-1.570786732837758,-0.014584786670537427,0.0029330236711321263,0.00015610827392493606,0.0031937932876207054,-0.003428108436100671,0.002933065370520968,0.00015642202954360265,0.0031992988780578284,-0.003436693581000491,-0.12546279444244993,0.4773124477345498,0.29989224457978353,1.0,1.445492173299207e-13,-1.876430826342965e-11,1.7706314189594942e-18],"qvel":[-0.015177564900146996,0.004871116469377708,-0.21794614303907517,0.209928452143157,-6.477425160223514e-05,-0.014898301215902958,-0.00010885265526615294,-3.115232279600048e-05,3.062123921848437e-05,0.0002584351707602317,-0.00010071717177031265,-1.4815297976126565e-06,0.00012138193468788484,0.0002339675955835323,2.4018353739037462e-11,1.8502197083678787e-13,7.646548563349176e-15,-3.625144309931128e-12,4.707640682168553e-10,-6.182983170833671e-19],"joint_position_rad":[-1.585379880886061,-1.5846162931455625,1.3801312450149688,-1.3665536814114032,-1.570786732837758,-0.014584786670537427],"joint_velocity_rad_s":[-0.015177564900146996,0.004871116469377708,-0.21794614303907517,0.209928452143157,-6.477425160223514e-05,-0.014898301215902958],"linkage_position_rad":[0.0029330236711321263,0.00015610827392493606,0.0031937932876207054,-0.003428108436100671,0.002933065370520968,0.00015642202954360265,0.0031992988780578284,-0.003436693581000491],"tcp_position_m":[-0.12701719704473763,0.4799249831232503,0.41178434451183565],"tcp_quaternion_wxyz":[-8.788442862198128e-05,0.7071063397909324,0.7071072121783838,8.360090362566458e-05],"object_position_m":[-0.12546279444244993,0.4773124477345498,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.445492173299207e-13,-1.876430826342965e-11,1.7706314189594942e-18],"object_linear_velocity_m_s":[2.4018353739037462e-11,1.8502197083678787e-13,7.646548563349176e-15],"object_angular_velocity_rad_s":[-3.6251443099311297e-12,4.707640682168553e-10,-6.182982665788134e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313490479876582,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588333523007765,-1.5933492571839394,1.3268814557646758,-1.3296564430353963,-1.570783561194442,-0.017534517292032537,0.0],"actuator_force":[0.16374171665074755,-19.414374664504976,-19.321121284955552,-2.5442260263122307,0.008063246818323933,0.014964810842741372,-0.29225660294747235],"issued_joint_targets_rad":[-1.5886517132233706,-1.5830150811962302,1.3324046933306604,-1.3204201706423837,-1.5707850272084127,-0.01784786711046194],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5886517132233706,-1.5830150811962302,1.3324046933306604,-1.3204201706423837,-1.5707850272084127,-0.01784786711046194],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":0.9800000000000008,"qpos":[-1.585691162713728,-1.5844675351255746,1.3756018696977241,-1.3621716785555593,-1.5707865801513672,-0.01489610356721186,0.0029330232840266302,0.00015610718119312775,0.0031937995213437314,-0.0034281072108809105,0.002933065282264118,0.00015642415734442347,0.003199318030299173,-0.0034366891065568165,-0.12546279444186173,0.47731244773455433,0.29989224457978353,1.0,1.484013313848586e-13,-1.926146991701536e-11,1.755663388904791e-18],"qvel":[-0.01519130632703899,0.005815550825129178,-0.2190610084046181,0.21009934387173804,-6.460116522681822e-05,-0.014908580732426334,-0.000108897416949766,-3.1279901101875195e-05,3.176621606144511e-05,0.00025881347385075853,-0.00010067609052244566,-1.2011792728764631e-06,0.0001240602818571953,0.00023452285183307855,2.666222258887227e-11,2.0541625537188445e-13,7.646548563349179e-15,-1.6080529149302432e-12,2.089187879927481e-10,-1.1288743387088795e-18],"joint_position_rad":[-1.585691162713728,-1.5844675351255746,1.3756018696977241,-1.3621716785555593,-1.5707865801513672,-0.01489610356721186],"joint_velocity_rad_s":[-0.01519130632703899,0.005815550825129178,-0.2190610084046181,0.21009934387173804,-6.460116522681822e-05,-0.014908580732426334],"linkage_position_rad":[0.0029330232840266302,0.00015610718119312775,0.0031937995213437314,-0.0034281072108809105,0.002933065282264118,0.00015642415734442347,0.003199318030299173,-0.0034366891065568165],"tcp_position_m":[-0.12687215021452664,0.4796750106644205,0.41346573098003137],"tcp_quaternion_wxyz":[-8.74306622968691e-05,0.7071063274469451,0.7071072246402399,8.307797406083654e-05],"object_position_m":[-0.12546279444186173,0.47731244773455433,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.484013313848586e-13,-1.926146991701536e-11,1.755663388904791e-18],"object_linear_velocity_m_s":[2.666222258887227e-11,2.0541625537188445e-13,7.646548563349179e-15],"object_angular_velocity_rad_s":[-1.608052914930244e-12,2.089187879927481e-10,-1.1288742779819924e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931349025862562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588646878914896,-1.593009955996703,1.3221385679827402,-1.3252403814937412,-1.5707833874298829,-0.017847869398700596,0.0],"actuator_force":[0.1650901284797328,-19.41106207230814,-19.302200068120783,-2.5442858562647643,0.008056477264858586,0.014975157498264835,-0.2922565607771763],"issued_joint_targets_rad":[-1.588720128801455,-1.5827824348825397,1.331194645407641,-1.3194264282156527,-1.5707856942340082,-0.01791684118981242],"issued_gripper_0_255":0.0,"command":{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.588720128801455,-1.5827824348825397,1.331194645407641,-1.3194264282156527,-1.5707856942340082,-0.01791684118981242],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0000000000000007,"qpos":[-1.5859822132266306,-1.5843389685427542,1.371334324741363,-1.3580909808190307,-1.5707874785664069,-0.015185324141811023,0.002931315841762932,0.0001558976433459278,0.0031928865356643157,-0.0034253064930556635,0.0029313904318838753,0.00015630630582037073,0.0031986790692463017,-0.00343402205470816,-0.12546279444126074,0.47731244773455894,0.29989224457978353,1.0,1.5606008337910972e-13,-2.025295297453195e-11,1.7372071408350654e-18],"qvel":[-0.01393008423417476,0.005830029921631243,-0.2038339253478092,0.1944430364250104,-5.159970641558536e-05,-0.013796258889510214,-0.00010478803835682446,-8.963458108958324e-06,-6.567573758791826e-05,0.00014581108934162536,-0.00010311935939136235,-2.9040288542384626e-06,-4.50752201426059e-05,0.0001442600452452258,3.1312934130913934e-11,2.412859537401724e-13,7.65348745725309e-15,1.2617887430326017e-12,-1.6353421829090254e-10,-2.061029367952905e-18],"joint_position_rad":[-1.5859822132266306,-1.5843389685427542,1.371334324741363,-1.3580909808190307,-1.5707874785664069,-0.015185324141811023],"joint_velocity_rad_s":[-0.01393008423417476,0.005830029921631243,-0.2038339253478092,0.1944430364250104,-5.159970641558536e-05,-0.013796258889510214],"linkage_position_rad":[0.002931315841762932,0.0001558976433459278,0.0031928865356643157,-0.0034253064930556635,0.0029313904318838753,0.00015630630582037073,0.0031986790692463017,-0.00343402205470816],"tcp_position_m":[-0.12673640790552096,0.4794417810994319,0.41505882355462853],"tcp_quaternion_wxyz":[-0.00010737417901810787,0.7071069715931997,0.7071065749304863,0.00010433194807929732],"object_position_m":[-0.12546279444126074,0.47731244773455894,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5606008337910972e-13,-2.025295297453195e-11,1.7372071408350654e-18],"object_linear_velocity_m_s":[3.1312934130913934e-11,2.412859537401724e-13,7.65348745725309e-15],"object_angular_velocity_rad_s":[1.2617887430326023e-12,-1.6353421829090254e-10,-2.0610293003842356e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313483343027487,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887159614983326,-1.5927697869848922,1.3209362613894438,-1.324247875078089,-1.5707840774736255,-0.017916843029352068,0.0],"actuator_force":[0.10453715026551436,-19.193648852928618,-19.26255656471494,-2.5227507720302356,0.006860517032237112,0.013866445180498843,-0.29209577669359943],"issued_joint_targets_rad":[-1.5887223433895057,-1.5826062750751861,1.3309713117578499,-1.3193595235853022,-1.5707863889837723,-0.0179197160036804],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5887223433895057,-1.5826062750751861,1.3309713117578499,-1.3193595235853022,-1.5707863889837723,-0.0179197160036804],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0199999999999985,"qpos":[-1.586245369876673,-1.5842146454488177,1.3674452806520219,-1.354393719705175,-1.570788430616306,-0.015447405533147248,0.0029295012821943483,0.00015586485807806032,0.0031912316880505186,-0.0034233677811085616,0.002929574412388562,0.00015625894360632773,0.0031969871923980563,-0.0034320667387529257,-0.12546279444067301,0.47731244773456344,0.29989224457978353,1.0,1.5359038692150848e-13,-1.993165425068026e-11,1.7182007980779222e-18],"qvel":[-0.012562517167436173,0.006088963148777077,-0.18530071879842114,0.1761499818956544,-4.092129713131544e-05,-0.012487106193711222,-8.08515919787286e-05,8.664729298317606e-08,-7.872263109992164e-05,7.467597094351367e-05,-8.076847701854838e-05,7.002057771199192e-07,-7.534259678786154e-05,7.731771690841113e-05,3.836427399980779e-11,2.9561594510816734e-13,7.656263014814651e-15,5.729024760384821e-12,-7.434732620717545e-10,-3.762929208255536e-18],"joint_position_rad":[-1.586245369876673,-1.5842146454488177,1.3674452806520219,-1.354393719705175,-1.570788430616306,-0.015447405533147248],"joint_velocity_rad_s":[-0.012562517167436173,0.006088963148777077,-0.18530071879842114,0.1761499818956544,-4.092129713131544e-05,-0.012487106193711222],"linkage_position_rad":[0.0029295012821943483,0.00015586485807806032,0.0031912316880505186,-0.0034233677811085616,0.002929574412388562,0.00015625894360632773,0.0031969871923980563,-0.0034320667387529257],"tcp_position_m":[-0.1266137704408712,0.4792305391935082,0.41650811532318366],"tcp_quaternion_wxyz":[-0.00013048440355523794,0.7071073477404934,0.7071061908426577,0.0001289077630884802],"object_position_m":[-0.12546279444067301,0.47731244773456344,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5359038692150848e-13,-1.993165425068026e-11,1.7182007980779222e-18],"object_linear_velocity_m_s":[3.836427399980779e-11,2.9561594510816734e-13,7.656263014814651e-15],"object_angular_velocity_rad_s":[5.729024760384824e-12,-7.434732620717545e-10,-3.762929211066075e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313496184559959,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887189344833847,-1.5925863021083613,1.3207200408451993,-1.3241823974762963,-1.5707847975873368,-0.01791971733116759,0.0],"actuator_force":[0.07787765355078591,-19.17889857859791,-19.330192094276754,-2.509337075126041,0.0059086441978024595,0.01255472036094929,-0.2921456843841591],"issued_joint_targets_rad":[-1.5887240639893123,-1.5824596296511544,1.3307840028899172,-1.3193008455559057,-1.5707870348160344,-0.017922035505688425],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5887240639893123,-1.5824596296511544,1.3307840028899172,-1.3193008455559057,-1.5707870348160344,-0.017922035505688425],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0399999999999963,"qpos":[-1.5864832255937942,-1.5840852243762122,1.3639124251495862,-1.351044056112714,-1.5707892189221018,-0.015684591338641828,0.0029281881402810307,0.00015590130026897213,0.003189797552096134,-0.003422293018928723,0.002928254185315535,0.00015626205536225005,0.0031954462633911264,-0.003430973543724801,-0.1254627944401141,0.4773124477345677,0.29989224457978353,1.0,1.3827644927162353e-13,-1.7944379689085898e-11,1.7006958224023013e-18],"qvel":[-0.011363895433269424,0.006362490999673922,-0.16830204157257814,0.15960200790814774,-3.480191760375308e-05,-0.011300851870233213,-5.6386791401777463e-05,9.747466023955072e-07,-5.9042523262376396e-05,4.719295239094622e-05,-5.627269685700137e-05,1.3958814750038473e-06,-5.716847983006345e-05,4.8152704396424885e-05,4.948619337310173e-11,3.813679954057615e-13,7.650711899691526e-15,1.2495624689414337e-11,-1.6213797336756255e-09,-6.8702386823063965e-18],"joint_position_rad":[-1.5864832255937942,-1.5840852243762122,1.3639124251495862,-1.351044056112714,-1.5707892189221018,-0.015684591338641828],"joint_velocity_rad_s":[-0.011363895433269424,0.006362490999673922,-0.16830204157257814,0.15960200790814774,-3.480191760375308e-05,-0.011300851870233213],"linkage_position_rad":[0.0029281881402810307,0.00015590130026897213,0.003189797552096134,-0.003422293018928723,0.002928254185315535,0.00015626205536225005,0.0031954462633911264,-0.003430973543724801],"tcp_position_m":[-0.12650303488309572,0.47904025778701986,0.4178166652609151],"tcp_quaternion_wxyz":[-0.00014888107163580516,0.7071075808326225,0.7071059502686575,0.00014851976465364997],"object_position_m":[-0.1254627944401141,0.4773124477345677,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3827644927162353e-13,-1.7944379689085898e-11,1.7006958224023013e-18],"object_linear_velocity_m_s":[4.948619337310173e-11,3.813679954057615e-13,7.650711899691526e-15],"object_angular_velocity_rad_s":[1.2495624689414342e-11,-1.6213797336756255e-09,-6.870238627103625e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313512146577203,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887212857687942,-1.592433461073856,1.3205393005228667,-1.3241249059078053,-1.5707854642570136,-0.017922036410295845,0.0],"actuator_force":[0.06943782330790782,-19.241469795157172,-19.42543262440722,-2.500625688360401,0.0053575243043724186,0.011362651196311191,-0.29225881883853433],"issued_joint_targets_rad":[-1.5887253536652115,-1.5823381165934383,1.3306275906695362,-1.3192495089986835,-1.5707876871373216,-0.01792386771012624],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.5887253536652115,-1.5823381165934383,1.3306275906695362,-1.3192495089986835,-1.5707876871373216,-0.01792386771012624],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.059999999999994,"qpos":[-1.5866984717019579,-1.583952573542638,1.3607050382119532,-1.3480092417747522,-1.5707899029876453,-0.015899220461895847,0.0029273081403163276,0.00015593927147185366,0.003188772477386532,-0.0034216357464606053,0.0029273685930672902,0.0001562701505104106,0.0031943184196613363,-0.0034303138893871225,-0.12546279443950104,0.4773124477345724,0.29989224457978353,1.0,1.3977955573606667e-13,-1.8138738034988586e-11,1.6746353877425705e-18],"qvel":[-0.01028219408856074,0.006494604560186,-0.1527924525424081,0.1446036488746539,-3.0304426278414948e-05,-0.010226059379696697,-3.671156169337752e-05,1.0093231722203766e-06,-4.0069856103760825e-05,2.8754684360729774e-05,-3.6632572220048056e-05,1.2158319329752967e-06,-3.912868051788117e-05,2.9355135797648198e-05,2.2277380668137222e-11,1.7167365373286964e-13,7.650711899691526e-15,-5.180069924752929e-12,6.722360170149077e-10,-7.443339850538044e-19],"joint_position_rad":[-1.5866984717019579,-1.583952573542638,1.3607050382119532,-1.3480092417747522,-1.5707899029876453,-0.015899220461895847],"joint_velocity_rad_s":[-0.01028219408856074,0.006494604560186,-0.1527924525424081,0.1446036488746539,-3.0304426278414948e-05,-0.010226059379696697],"linkage_position_rad":[0.0029273081403163276,0.00015593927147185366,0.003188772477386532,-0.0034216357464606053,0.0029273685930672902,0.0001562701505104106,0.0031943184196613363,-0.0034303138893871225],"tcp_position_m":[-0.1264029012565437,0.47886903769040684,0.4189972011770511],"tcp_quaternion_wxyz":[-0.00016249174793855843,0.7071077958671332,0.7071057290179357,0.0001631268505135791],"object_position_m":[-0.12546279443950104,0.4773124477345724,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3977955573606667e-13,-1.8138738034988586e-11,1.6746353877425705e-18],"object_linear_velocity_m_s":[2.2277380668137222e-11,1.7167365373286964e-13,7.650711899691526e-15],"object_angular_velocity_rad_s":[-5.180069924752932e-12,6.722360170149077e-10,-7.443339752129242e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313524582958892,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887230904514544,-1.5923067707225804,1.320388940327662,-1.3240745309505324,-1.5707861336307332,-0.017923868274876357,0.0],"actuator_force":[0.06364013643133148,-19.3062361839593,-19.51521475161917,-2.4930094753555068,0.004915121083854501,0.010282031479416531,-0.29236711599961374],"issued_joint_targets_rad":[-1.588726301596546,-1.5822373690285778,1.3304968972574385,-1.319204573902169,-1.5707883348850973,-0.017925307006773222],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.588726301596546,-1.5822373690285778,1.3304968972574385,-1.319204573902169,-1.5707883348850973,-0.017925307006773222],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0799999999999919,"qpos":[-1.58689325126383,-1.5838192850989616,1.357794268571688,-1.3452598047164566,-1.5707905048712854,-0.016093416855760184,0.00292676867897336,0.0001559741193647358,0.003188095184626085,-0.0034212861452294404,0.0029268240120855077,0.00015627722742692066,0.003193544444779813,-0.003429963690852282,-0.12546279443887148,0.47731244773457726,0.29989224457978353,1.0,1.480943070121251e-13,-1.9219106050137155e-11,1.64128549413582e-18],"qvel":[-0.009302210096267707,0.006501142279939089,-0.13866060659677867,0.1310078307864114,-2.66537722691612e-05,-0.009252483430499022,-2.1442445315792002e-05,9.80952912415907e-07,-2.4926983539576712e-05,1.4646713800844182e-05,-2.140265541532098e-05,1.0111704014780195e-06,-2.46642907193053e-05,1.5124107997245762e-05,2.428828788975949e-11,1.8715274481508168e-13,7.653487457253088e-15,-4.114370677015506e-12,5.338863501435967e-10,-1.358966251740855e-18],"joint_position_rad":[-1.58689325126383,-1.5838192850989616,1.357794268571688,-1.3452598047164566,-1.5707905048712854,-0.016093416855760184],"joint_velocity_rad_s":[-0.009302210096267707,0.006501142279939089,-0.13866060659677867,0.1310078307864114,-2.66537722691612e-05,-0.009252483430499022],"linkage_position_rad":[0.00292676867897336,0.0001559741193647358,0.003188095184626085,-0.0034212861452294404,0.0029268240120855077,0.00015627722742692066,0.003193544444779813,-0.003429963690852282],"tcp_position_m":[-0.12631234758740337,0.47871495910164347,0.42006216755092873],"tcp_quaternion_wxyz":[-0.0001719980606596048,0.7071079997163784,0.7071055204648892,0.00017344118967544344],"object_position_m":[-0.12546279443887148,0.47731244773457726,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.480943070121251e-13,-1.9219106050137155e-11,1.64128549413582e-18],"object_linear_velocity_m_s":[2.428828788975949e-11,1.8715274481508168e-13,7.653487457253088e-15],"object_angular_velocity_rad_s":[-4.1143706770155075e-12,5.338863501435967e-10,-1.3589662697355018e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533626735403,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887244579961048,-1.5922017051115296,1.320263811158831,-1.3240303690539903,-1.5707867953552779,-0.01792530730089755,0.0],"actuator_force":[0.05847057395749289,-19.365296937111452,-19.596672187002696,-2.486065247408078,0.0045201352305639375,0.009303120481220617,-0.2924654090492878],"issued_joint_targets_rad":[-1.5887269817924699,-1.5821537377364294,1.330387559319099,-1.319165207490506,-1.5707889655123919,-0.01792643214713799],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5887269817924699,-1.5821537377364294,1.330387559319099,-1.319165207490506,-1.5707889655123919,-0.01792643214713799],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.0999999999999897,"qpos":[-1.5870694792628077,-1.583687455047456,1.3551535642034203,-1.3427690338768372,-1.5707910385072303,-0.016269108549649376,0.0029264910083632743,0.00015600569947079668,0.003187689915067422,-0.003421169676876683,0.002926541597218474,0.00015628303243779573,0.0031930490346814347,-0.003429847117966111,-0.12546279443825742,0.477312447734582,0.29989224457978353,1.0,1.5327744386824557e-13,-1.9892402594569077e-11,1.603960206885153e-18],"qvel":[-0.008414222068228866,0.0064108494618970654,-0.1257943476151328,0.11868411455806643,-2.361865106325283e-05,-0.008370784283969389,-9.77076809869725e-06,9.351749459295226e-07,-1.3259603949954043e-05,3.977690457121336e-06,-9.760987903753056e-06,8.346959434616966e-07,-1.3496350684444297e-05,4.36053385273093e-06,2.685400418934146e-11,2.069194937958103e-13,7.652099678472306e-15,-2.2712665205814983e-12,2.9472499429918385e-10,-2.481109240243499e-18],"joint_position_rad":[-1.5870694792628077,-1.583687455047456,1.3551535642034203,-1.3427690338768372,-1.5707910385072303,-0.016269108549649376],"joint_velocity_rad_s":[-0.008414222068228866,0.0064108494618970654,-0.1257943476151328,0.11868411455806643,-2.361865106325283e-05,-0.008370784283969389],"linkage_position_rad":[0.0029264910083632743,0.00015600569947079668,0.003187689915067422,-0.003421169676876683,0.002926541597218474,0.00015628303243779573,0.0031930490346814347,-0.003429847117966111],"tcp_position_m":[-0.12623046524167802,0.47857627854684115,0.4210228925081788],"tcp_quaternion_wxyz":[-0.00017807138452939118,0.7071081877658923,0.7071053292311408,0.00018016086363641326],"object_position_m":[-0.12546279443825742,0.477312447734582,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5327744386824557e-13,-1.9892402594569077e-11,1.603960206885153e-18],"object_linear_velocity_m_s":[2.685400418934146e-11,2.069194937958103e-13,7.652099678472306e-15],"object_angular_velocity_rad_s":[-2.271266520581499e-12,2.9472499429918385e-10,-2.481109252752012e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313539946808748,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887254799931674,-1.5921144752442833,1.3201595794207592,-1.3239916202393918,-1.5707874374610047,-0.017926432227547247,0.0],"actuator_force":[0.05368736657237605,-19.418380178413372,-19.670230519268898,-2.4797046370838416,0.004162388219128843,0.008416589448001943,-0.29255397149907514],"issued_joint_targets_rad":[-1.5887274535817533,-1.5820842193343272,1.3302959570567383,-1.3191306829915739,-1.5707895700812164,-0.01792730677635625],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5887274535817533,-1.5820842193343272,1.3302959570567383,-1.3191306829915739,-1.5707895700812164,-0.01792730677635625],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1199999999999875,"qpos":[-1.5872288942010602,-1.583558659517496,1.352758581770133,-1.3405127019342138,-1.5707915145375166,-0.0164280449423718,0.0029264117571721634,0.00015603424261739145,0.003187493076018573,-0.0034212273677622584,0.0029264579599355854,0.00015628772406467626,0.003192768507191593,-0.003429905036563374,-0.12546279443766264,0.47731244773458653,0.29989224457978353,1.0,1.538361323176165e-13,-1.996242253411243e-11,1.563395971317606e-18],"qvel":[-0.0076098060417217174,0.006248544571737763,-0.11408808533774603,0.10751437793366671,-2.106354539379768e-05,-0.007572447559951664,-9.719000904137833e-07,8.839789744099247e-07,-4.402442078918046e-06,-3.97550170550715e-06,-9.845812756447558e-07,6.881806942176015e-07,-5.0048780604017255e-06,-3.66832215217249e-06,3.0593362585509945e-11,2.3577761313342367e-13,7.64654856334918e-15,6.448959678229245e-13,-8.339702072732218e-11,-4.529852313895123e-18],"joint_position_rad":[-1.5872288942010602,-1.583558659517496,1.352758581770133,-1.3405127019342138,-1.5707915145375166,-0.0164280449423718],"joint_velocity_rad_s":[-0.0076098060417217174,0.006248544571737763,-0.11408808533774603,0.10751437793366671,-2.106354539379768e-05,-0.007572447559951664],"linkage_position_rad":[0.0029264117571721634,0.00015603424261739145,0.003187493076018573,-0.0034212273677622584,0.0029264579599355854,0.00015628772406467626,0.003192768507191593,-0.003429905036563374],"tcp_position_m":[-0.12615643197537474,0.47845143239585214,0.4218896005275783],"tcp_quaternion_wxyz":[-0.0001812982000919359,0.7071083561004472,0.7071051591144264,0.0001838957494229852],"object_position_m":[-0.12546279443766264,0.47731244773458653,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.538361323176165e-13,-1.996242253411243e-11,1.563395971317606e-18],"object_linear_velocity_m_s":[3.0593362585509945e-11,2.3577761313342367e-13,7.64654856334918e-15],"object_angular_velocity_rad_s":[6.44895967822925e-13,-8.339702072732218e-11,-4.5298522254737535e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313544136908869,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887262301973357,-1.5920419603757567,1.3200726553305189,-1.3239575852511998,-1.5707880514768773,-0.017927306689685004,0.0],"actuator_force":[0.04925042413742631,-19.466019545217023,-19.736618744129828,-2.473879451859716,0.0038378848590809866,0.007613882338565858,-0.2926337034485571],"issued_joint_targets_rad":[-1.5887277642278015,-1.5820263459208659,1.3302190933842926,-1.3191003687028686,-1.5707901428501447,-0.017927982084793948],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.5887277642278015,-1.5820263459208659,1.3302190933842926,-1.3191003687028686,-1.5707901428501447,-0.017927982084793948],"gripper_0_255":0.0,"phase":"approach"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1399999999999852,"qpos":[-1.5873730765050287,-1.583434046129707,1.3505870396063726,-1.3384688344359508,-1.5707919414039182,-0.016571812714119803,0.0029264805310240333,0.0001560600323943174,0.0031874537317915907,-0.003421412715469176,0.0029265226878848593,0.0001562914943515041,0.003192651688039758,-0.0034300908496936104,-0.12546279443709354,0.4773124477345909,0.29989224457978353,1.0,1.474918555784676e-13,-1.913702097917197e-11,1.521622540188003e-18],"qvel":[-0.006881308600627024,0.006034204922655737,-0.10344350598612172,0.09739137799526322,-1.888890083846729e-05,-0.006849717776366105,5.5475283619918626e-06,8.305778513830848e-07,2.218405637650522e-06,-9.783264582175667e-06,5.518406266758587e-06,5.673711110833987e-07,1.354969040717212e-06,-9.53738995440394e-06,3.656112500589583e-11,2.817944128242795e-13,7.64654856334918e-15,5.042019826070149e-12,-6.539350569757011e-10,-8.27043835542135e-18],"joint_position_rad":[-1.5873730765050287,-1.583434046129707,1.3505870396063726,-1.3384688344359508,-1.5707919414039182,-0.016571812714119803],"joint_velocity_rad_s":[-0.006881308600627024,0.006034204922655737,-0.10344350598612172,0.09739137799526322,-1.888890083846729e-05,-0.006849717776366105],"linkage_position_rad":[0.0029264805310240333,0.0001560600323943174,0.0031874537317915907,-0.003421412715469176,0.0029265226878848593,0.0001562914943515041,0.003192651688039758,-0.0034300908496936104],"tcp_position_m":[-0.12608950230136778,0.4783390198119775,0.4226715107307053],"tcp_quaternion_wxyz":[-0.00018218255968902218,0.7071085024159993,0.7071050122382487,0.00018517036234393195],"object_position_m":[-0.12546279443709354,0.4773124477345909,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.474918555784676e-13,-1.913702097917197e-11,1.521622540188003e-18],"object_linear_velocity_m_s":[3.656112500589583e-11,2.817944128242795e-13,7.64654856334918e-15],"object_angular_velocity_rad_s":[5.04201982607015e-12,-6.539350569757011e-10,-8.270438277132935e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313546679192097,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887267676305368,-1.5919815945541276,1.3200000714920943,-1.3239276552630312,-1.5707886320391107,-0.01792798186917848,0.0],"actuator_force":[0.0451411892345277,-19.508778817903476,-19.796533834107777,-2.4685482130665832,0.0035435724875014785,0.006887200107273728,-0.29270549061858836],"issued_joint_targets_rad":[-1.5887279512693757,-1.5819780893460815,1.330154487288853,-1.3190737167500735,-1.5707906805047316,-0.01792849918214332],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.5887279512693757,-1.5819780893460815,1.330154487288853,-1.3190737167500735,-1.5707906805047316,-0.01792849918214332],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.159999999999983,"qpos":[-1.5875034622902238,-1.5833144208298897,1.348618568606017,-1.3366175023206612,-1.5707923258856082,-0.016701850445798694,0.0029266574677478925,0.0001560833334582403,0.003187531435200574,-0.003421689116205008,0.0029266959001743582,0.00015629450949061668,0.0031926578419977075,-0.003430367888242384,-0.12546279443656108,0.477312447734595,0.29989224457978353,1.0,1.3104181581550125e-13,-1.7001663685755637e-11,1.4831489527328926e-18],"qvel":[-0.006221741936638353,0.005783690529270049,-0.09376944206980964,0.08821772818472196,-1.701849974559675e-05,-0.0061955365579206825,1.0267072206840483e-05,7.765465870311489e-07,7.06969244573577e-06,-1.3902737751687779e-05,1.0226267708506925e-05,4.67818127121918e-07,6.027341234112881e-06,-1.3706641974600306e-05,4.654360118504071e-11,3.587717431062674e-13,7.649324120910744e-15,1.149220070313903e-11,-1.4907661075765058e-09,-1.5099688551064775e-17],"joint_position_rad":[-1.5875034622902238,-1.5833144208298897,1.348618568606017,-1.3366175023206612,-1.5707923258856082,-0.016701850445798694],"joint_velocity_rad_s":[-0.006221741936638353,0.005783690529270049,-0.09376944206980964,0.08821772818472196,-1.701849974559675e-05,-0.0061955365579206825],"linkage_position_rad":[0.0029266574677478925,0.0001560833334582403,0.003187531435200574,-0.003421689116205008,0.0029266959001743582,0.00015629450949061668,0.0031926578419977075,-0.003430367888242384],"tcp_position_m":[-0.1260290003798164,0.4782377853470082,0.42337693525621645],"tcp_quaternion_wxyz":[-0.000181155986553562,0.7071086257363365,0.7071048893734543,0.0001844340867060482],"object_position_m":[-0.12546279443656108,0.477312447734595,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3104181581550125e-13,-1.7001663685755637e-11,1.4831489527328926e-18],"object_linear_velocity_m_s":[4.654360118504071e-11,3.587717431062674e-13,7.649324120910744e-15],"object_angular_velocity_rad_s":[1.1492200703139035e-11,-1.4907661075765058e-09,-1.5099688483397433e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313547959616335,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887271394083222,-1.5919312677033397,1.3199393758191207,-1.3239013013847787,-1.570789176138849,-0.017928498868699932,0.0],"actuator_force":[0.04134253845813873,-19.54716995860781,-19.850608745869067,-2.4636723505308282,0.003276723354133537,0.0062294443414483425,-0.2927701350956893],"issued_joint_targets_rad":[-1.587659944950853,-1.593196474209152,1.405252252398614,-1.3825857101581684,-1.5708219077952814,-0.01686324837420799],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.587659944950853,-1.593196474209152,1.405252252398614,-1.3825857101581684,-1.5708219077952814,-0.01686324837420799],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1799999999999808,"qpos":[-1.5875874615375651,-1.5839900722646973,1.3482427134769122,-1.3363950250574173,-1.570798493538428,-0.016722255988521575,0.0029208910463287678,0.00015407135251248698,0.003191714685570641,-0.003410082254962503,0.0029215916241454943,0.00015813603577142973,0.003211057479881771,-0.0034174431597939385,-0.12546279443598385,0.47731244773459947,0.29989224457978353,1.0,1.3133602291271565e-13,-1.7039094669362452e-11,1.4258722293045605e-18],"qvel":[-0.0013542959208980405,-0.0562493573060273,0.04727214944893724,-0.06090898542394864,-0.00036490850014622565,-0.0007102262245326353,-0.0005645301061476121,-5.248034743174321e-05,-0.0003743233666065213,0.0009728838109734541,-0.0005673781470613435,-0.00012148794161073345,-0.0006249009776354183,0.0009059704101072493,2.0964552363037062e-11,1.6159420270090754e-13,7.643773005787617e-15,-4.906393997031988e-12,6.365530056724451e-10,-1.6359285307613225e-18],"joint_position_rad":[-1.5875874615375651,-1.5839900722646973,1.3482427134769122,-1.3363950250574173,-1.570798493538428,-0.016722255988521575],"joint_velocity_rad_s":[-0.0013542959208980405,-0.0562493573060273,0.04727214944893724,-0.06090898542394864,-0.00036490850014622565,-0.0007102262245326353],"linkage_position_rad":[0.0029208910463287678,0.00015407135251248698,0.003191714685570641,-0.003410082254962503,0.0029215916241454943,0.00015813603577142973,0.003211057479881771,-0.0034174431597939385],"tcp_position_m":[-0.12599012543684465,0.47807716337972445,0.4238571841417432],"tcp_quaternion_wxyz":[-0.0004670832098526418,0.7071309734457509,0.7070822677914947,0.0004845634902088006],"object_position_m":[-0.12546279443598385,0.47731244773459947,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3133602291271565e-13,-1.7039094669362452e-11,1.4258722293045605e-18],"object_linear_velocity_m_s":[2.0964552363037062e-11,1.6159420270090754e-13,7.643773005787617e-15],"object_angular_velocity_rad_s":[-4.9063939970319895e-12,6.365530056724451e-10,-1.6359285271046475e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313282740776398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5876597823659366,-1.6031312967867515,1.3499420022343964,-1.3539045084901793,-1.5708204294988093,-0.01686324647267834,0.0],"actuator_force":[0.3970767116161369,-15.782706121697629,-15.510282264606303,-2.6638431739861517,0.025522869824044392,0.0005273803748799821,-0.28646459225766835],"issued_joint_targets_rad":[-1.5877339403997095,-1.5933170010577649,1.4041190090916436,-1.3813372902420824,-1.5708213006483076,-0.016937116399428576],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.5877339403997095,-1.5933170010577649,1.4041190090916436,-1.3813372902420824,-1.5708213006483076,-0.016937116399428576],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.1999999999999786,"qpos":[-1.5875931672437111,-1.5851703831255917,1.350630149174872,-1.3390985146167467,-1.5708021573732955,-0.01674250170191749,0.002907904545189224,0.00015314744935012673,0.0031797976350454627,-0.0033920055771455133,0.002908395634060511,0.00015627465091414444,0.0031962947695938927,-0.003398564810223397,-0.12546279443535388,0.47731244773460435,0.29989224457978353,1.0,1.4580721166768373e-13,-1.8913617560929307e-11,1.3432838826141103e-18],"qvel":[0.0002757483069888622,-0.058268564137386604,0.1836053404108157,-0.1997155557599571,-0.00011927182622244969,-0.000983299285921355,-0.0006380010350059641,-1.655504013621504e-05,-0.0006485067678562114,0.0007086126015768324,-0.0006452031448228281,-4.472630241711893e-05,-0.0007344870997127855,0.0007425251616127983,2.3596325568194524e-11,1.819061910211904e-13,7.645160784568399e-15,-4.208190372407503e-12,5.460120894760875e-10,-2.9867974009075885e-18],"joint_position_rad":[-1.5875931672437111,-1.5851703831255917,1.350630149174872,-1.3390985146167467,-1.5708021573732955,-0.01674250170191749],"joint_velocity_rad_s":[0.0002757483069888622,-0.058268564137386604,0.1836053404108157,-0.1997155557599571,-0.00011927182622244969,-0.000983299285921355],"linkage_position_rad":[0.002907904545189224,0.00015314744935012673,0.0031797976350454627,-0.0033920055771455133,0.002908395634060511,0.00015627465091414444,0.0031962947695938927,-0.003398564810223397],"tcp_position_m":[-0.12598660978561288,0.4780689849805676,0.423540536618682],"tcp_quaternion_wxyz":[-0.0009858586676302838,0.7071252813596972,0.7070868522426689,0.0010236846241456668],"object_position_m":[-0.12546279443535388,0.47731244773460435,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4580721166768373e-13,-1.8913617560929307e-11,1.3432838826141103e-18],"object_linear_velocity_m_s":[2.3596325568194524e-11,1.819061910211904e-13,7.645160784568399e-15],"object_angular_velocity_rad_s":[-4.208190372407504e-12,5.460120894760875e-10,-2.9867973601136363e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313364333337783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5877325251611787,-1.6032351748223683,1.3799391708787725,-1.3839069749135096,-1.5708198517367724,-0.016937113135983946,0.0],"actuator_force":[-0.3890151577306824,-12.82215773859889,-14.82409275652526,-2.4326745723858494,0.003080000883869616,0.0010242115589083056,-0.2843989880633428],"issued_joint_targets_rad":[-1.587742081480743,-1.5934689078397157,1.4050784549870934,-1.3821548954063725,-1.5708200690524508,-0.016945277103336976],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.587742081480743,-1.5934689078397157,1.4050784549870934,-1.3821548954063725,-1.5708200690524508,-0.016945277103336976],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2199999999999764,"qpos":[-1.5875861358706895,-1.5862227275342209,1.355324589741338,-1.3432945763614164,-1.5708042240386648,-0.01676190092586031,0.002900417048454144,0.00015448374039734865,0.0031666831041169733,-0.0033882824358934718,0.002900557319074065,0.00015502947342774224,0.0031733066127400357,-0.0033964074895107992,-0.12546279443472796,0.4773124477346092,0.29989224457978353,1.0,1.5514168250131143e-13,-2.0125409555106345e-11,1.2503729823934549e-18],"qvel":[0.0006281958037507425,-0.04211670735165208,0.2489556723870902,-0.1967768559495238,-3.9623507728149166e-05,-0.0009268835943768634,0.00021622257361918085,0.00020641394627419858,-0.0006003345492895146,-0.0010340293419500478,0.0001791537015041846,-1.0736521613933231e-05,-0.001393378735345974,-0.0011330907471460458,2.655178388009227e-11,2.0467967616313272e-13,7.64654856334918e-15,-2.7074416168590396e-12,3.5117254967184543e-10,-5.453140819236651e-18],"joint_position_rad":[-1.5875861358706895,-1.5862227275342209,1.355324589741338,-1.3432945763614164,-1.5708042240386648,-0.01676190092586031],"joint_velocity_rad_s":[0.0006281958037507425,-0.04211670735165208,0.2489556723870902,-0.1967768559495238,-3.9623507728149166e-05,-0.0009268835943768634],"linkage_position_rad":[0.002900417048454144,0.00015448374039734865,0.0031666831041169733,-0.0033882824358934718,0.002900557319074065,0.00015502947342774224,0.0031733066127400357,-0.0033964074895107992],"tcp_position_m":[-0.12598904652062135,0.4780916835653767,0.422200496912824],"tcp_quaternion_wxyz":[-0.00117765262112439,0.7071156332615887,0.7070958897649375,0.0012235231493695346],"object_position_m":[-0.12546279443472796,0.4773124477346092,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5514168250131143e-13,-2.0125409555106345e-11,1.2503729823934549e-18],"object_linear_velocity_m_s":[2.655178388009227e-11,2.0467967616313272e-13,7.64654856334918e-15],"object_angular_velocity_rad_s":[-2.70744161685904e-12,3.5117254967184543e-10,-5.453140832979014e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313629827355074,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587738008740464,-1.6033827771595093,1.3948557823626633,-1.3869856495591473,-1.5708186272544473,-0.01694527454106276,0.0],"actuator_force":[-0.5550240610491528,-17.473416309916047,-20.519883712185674,-2.1678510039130288,-0.0032392571184800545,0.001001551836461445,-0.2920255997520273],"issued_joint_targets_rad":[-1.587739593915416,-1.594015246498642,1.409081555408532,-1.3856162774346805,-1.5708194860964686,-0.01694283398222104],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.587739593915416,-1.594015246498642,1.409081555408532,-1.3856162774346805,-1.5708194860964686,-0.01694283398222104],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2399999999999742,"qpos":[-1.5875898493267449,-1.5870090121582194,1.3604254359939756,-1.3473275105348779,-1.570804913435833,-0.01677926442662467,0.0029055644138806964,0.0001564223606097634,0.003165182119692415,-0.0034025809329063525,0.0029054802536990234,0.000155892632713572,0.003167751162302856,-0.0034112917605685143,-0.12546279443411332,0.47731244773461384,0.29989224457978353,1.0,1.587023067660361e-13,-2.058499751334773e-11,1.1484879828560257e-18],"qvel":[-0.0003796512773524589,-0.034794870602030195,0.24627387712132293,-0.19257769110579792,-4.8344009203912084e-05,-0.0008264504861161488,0.00037904972282394237,5.9354035568353894e-05,0.00016834162415362342,-0.0006417788778682057,0.00037258470074166844,2.6834793347081884e-05,3.548362357722746e-05,-0.0006759095255295671,3.0333330622547816e-11,2.3386699870675777e-13,7.647936342129962e-15,-9.984433085476626e-14,1.3188906114714e-11,-9.956033297460454e-18],"joint_position_rad":[-1.5875898493267449,-1.5870090121582194,1.3604254359939756,-1.3473275105348779,-1.570804913435833,-0.01677926442662467],"joint_velocity_rad_s":[-0.0003796512773524589,-0.034794870602030195,0.24627387712132293,-0.19257769110579792,-4.8344009203912084e-05,-0.0008264504861161488],"linkage_position_rad":[0.0029055644138806964,0.0001564223606097634,0.003165182119692415,-0.0034025809329063525,0.0029054802536990234,0.000155892632713572,0.003167751162302856,-0.0034112917605685143],"tcp_position_m":[-0.125987473857416,0.47806958038400554,0.42051956073976426],"tcp_quaternion_wxyz":[-0.0010795070957928755,0.7071109693656629,0.7071008779191025,0.0011225476457502616],"object_position_m":[-0.12546279443411332,0.47731244773461384,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.587023067660361e-13,-2.058499751334773e-11,1.1484879828560257e-18],"object_linear_velocity_m_s":[3.0333330622547816e-11,2.3386699870675777e-13,7.647936342129962e-15],"object_angular_velocity_rad_s":[-9.984433085476588e-14,1.3188906114714e-11,-9.95603322183141e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313788323852965,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587735280054086,-1.6039223293402143,1.398849853340813,-1.3904458766022147,-1.5708180460545706,-0.016942831962571035,0.0],"actuator_force":[-0.1390009437413937,-19.90868612317763,-21.660716154854526,-2.301413923088603,-0.0017319084485052372,0.0008612806384338256,-0.29431040549681403],"issued_joint_targets_rad":[-1.587745594683142,-1.5947935490865963,1.4141965242758672,-1.3899524295985106,-1.5708195009474812,-0.016948860878521328],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.587745594683142,-1.5947935490865963,1.4141965242758672,-1.3899524295985106,-1.5708195009474812,-0.016948860878521328],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.259999999999972,"qpos":[-1.587603803734699,-1.5877544028577817,1.3655257418254576,-1.3513733814590163,-1.570806246315884,-0.016795493623468105,0.00291064075558661,0.00015655425338014203,0.0031696659930304312,-0.0034080662281737195,0.00291059131803907,0.00015609291096348724,0.0031722900184278954,-0.003417127670171646,-0.12546279443351907,0.4773124477346184,0.29989224457978353,1.0,1.5496218659736814e-13,-2.009834166898243e-11,1.0417743326523128e-18],"qvel":[-0.00046773170472157047,-0.0344382084722573,0.24657704334397257,-0.19396032308111102,-5.914946122128502e-05,-0.0007747522463313002,0.00034288538033683204,3.6088642160164986e-05,0.000193678507910564,-0.000470739336417714,0.0003343238650960897,-3.821879865885943e-06,4.859344066129619e-05,-0.00048351475811669485,3.59649885616636e-11,2.773129707379182e-13,7.652099678472308e-15,3.977139473216677e-12,-5.156393779210512e-10,-1.817720116458201e-17],"joint_position_rad":[-1.587603803734699,-1.5877544028577817,1.3655257418254576,-1.3513733814590163,-1.570806246315884,-0.016795493623468105],"joint_velocity_rad_s":[-0.00046773170472157047,-0.0344382084722573,0.24657704334397257,-0.19396032308111102,-5.914946122128502e-05,-0.0007747522463313002],"linkage_position_rad":[0.00291064075558661,0.00015655425338014203,0.0031696659930304312,-0.0034080662281737195,0.00291059131803907,0.00015609291096348724,0.0031722900184278954,-0.003417127670171646],"tcp_position_m":[-0.12598072776331673,0.47805550796673496,0.4188188469201569],"tcp_quaternion_wxyz":[-0.0009715986759522805,0.7071103270264686,0.7071018437106985,0.0010119434091449455],"object_position_m":[-0.12546279443351907,0.4773124477346184,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5496218659736814e-13,-2.009834166898243e-11,1.0417743326523128e-18],"object_linear_velocity_m_s":[3.59649885616636e-11,2.773129707379182e-13,7.652099678472308e-15],"object_angular_velocity_rad_s":[3.977139473216679e-12,-5.156393779210512e-10,-1.817720110597701e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313756596443805,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587741246811368,-1.604693728526071,1.4039560901430503,-1.3947809868194756,-1.5708180653529054,-0.016948859335279343,0.0],"actuator_force":[-0.0877934714494586,-20.10336794767545,-21.7701207024038,-2.3077703721185117,5.427611540653743e-06,0.0007923687275095403,-0.2944476499084486],"issued_joint_targets_rad":[-1.5877605712309948,-1.5955493517402146,1.4193368021326054,-1.3943362058984996,-1.570819535581877,-0.016963839570661048],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5877605712309948,-1.5955493517402146,1.4193368021326054,-1.3943362058984996,-1.570819535581877,-0.016963839570661048],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2799999999999698,"qpos":[-1.5876185037169301,-1.5884979675906972,1.3706306936417287,-1.3554504993455703,-1.5708075331546887,-0.01681156038383907,0.0029148816937468636,0.00015655698700114468,0.0031738239529470907,-0.0034120905958379267,0.002914834600890762,0.00015609856740710266,0.003176443421091218,-0.003421171949220655,-0.12546279443295724,0.4773124477346227,0.29989224457978353,1.0,1.4125572379987385e-13,-1.8320072941806013e-11,9.397717925522097e-19],"qvel":[-0.00047786355728860315,-0.03446151109032339,0.246776567357921,-0.19550156286010567,-5.4081623898507163e-05,-0.0007692444391500796,0.00030211515865981954,3.570358651611656e-05,0.00016203105191798782,-0.0004317526226645382,0.00029304498866637106,-5.064953289058179e-06,1.6311532575175635e-05,-0.00043979276851178307,4.513355227635108e-11,3.4798742344412087e-13,7.650711899691526e-15,1.0047795759276587e-11,-1.3031445189925912e-09,-3.318690575158045e-17],"joint_position_rad":[-1.5876185037169301,-1.5884979675906972,1.3706306936417287,-1.3554504993455703,-1.5708075331546887,-0.01681156038383907],"joint_velocity_rad_s":[-0.00047786355728860315,-0.03446151109032339,0.246776567357921,-0.19550156286010567,-5.4081623898507163e-05,-0.0007692444391500796],"linkage_position_rad":[0.0029148816937468636,0.00015655698700114468,0.0031738239529470907,-0.0034120905958379267,0.002914834600890762,0.00015609856740710266,0.003176443421091218,-0.003421171949220655],"tcp_position_m":[-0.12597363074632142,0.47804192784670957,0.4171163129399022],"tcp_quaternion_wxyz":[-0.0008723206050490732,0.707109977724737,0.7071024607144675,0.0009102254820003663],"object_position_m":[-0.12546279443295724,0.4773124477346227,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4125572379987385e-13,-1.8320072941806013e-11,9.397717925522097e-19],"object_linear_velocity_m_s":[4.513355227635108e-11,3.4798742344412087e-13,7.650711899691526e-15],"object_angular_velocity_rad_s":[1.0047795759276592e-11,-1.3031445189925912e-09,-3.318690575212251e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313719076009402,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5877562123587055,-1.6054424370174352,1.4090877776182364,-1.3991638358712535,-1.5708181042287974,-0.016963838453750307,0.0],"actuator_force":[-0.08427186063545378,-20.10433441734631,-21.79645899015304,-2.306511976831075,0.00012262533539342257,0.0007854089593912761,-0.29446161546851224],"issued_joint_targets_rad":[-1.587776182025356,-1.596286961152156,1.4244598356788847,-1.3987210834606207,-1.570819551902498,-0.016979450995005356],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.587776182025356,-1.596286961152156,1.4244598356788847,-1.3987210834606207,-1.570819551902498,-0.016979450995005356],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.2999999999999676,"qpos":[-1.5876332659428585,-1.589241024621852,1.3757377221944143,-1.3595570492067774,-1.570808704373012,-0.016827580495165948,0.002918366142366472,0.00015655708759153335,0.003177288884496206,-0.0034154023063116394,0.002918318599456837,0.00015609710381582053,0.003179901237630266,-0.0034244831513140176,-0.1254627944323806,0.47731244773462717,0.29989224457978353,1.0,1.3409714770299446e-13,-1.7391654875465138e-11,8.138859447852056e-19],"qvel":[-0.00048148460264260657,-0.03443562903869876,0.24686102951622224,-0.19690654577300137,-4.828475091380965e-05,-0.0007671800661578173,0.0002674265391121865,3.553589654167815e-05,0.00012926800183272815,-0.00039839857955332623,0.0002584205874570072,-4.896127276076641e-06,-1.5173785336152285e-05,-0.0004064414550756507,2.1328982638574194e-11,1.6445423217228981e-13,7.649324120910744e-15,-5.264588846160541e-12,6.828068724529947e-10,-3.595530929870113e-18],"joint_position_rad":[-1.5876332659428585,-1.589241024621852,1.3757377221944143,-1.3595570492067774,-1.570808704373012,-0.016827580495165948],"joint_velocity_rad_s":[-0.00048148460264260657,-0.03443562903869876,0.24686102951622224,-0.19690654577300137,-4.828475091380965e-05,-0.0007671800661578173],"linkage_position_rad":[0.002918366142366472,0.00015655708759153335,0.003177288884496206,-0.0034154023063116394,0.002918318599456837,0.00015609710381582053,0.003179901237630266,-0.0034244831513140176],"tcp_position_m":[-0.12596653384280218,0.47802836369675283,0.41541366705078364],"tcp_quaternion_wxyz":[-0.0007824181222486368,0.7071096418386934,0.7071030143684031,0.0008181147559349748],"object_position_m":[-0.1254627944323806,0.47731244773462717,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3409714770299446e-13,-1.7391654875465138e-11,8.138859447852056e-19],"object_linear_velocity_m_s":[2.1328982638574194e-11,1.6445423217228981e-13,7.649324120910744e-15],"object_angular_velocity_rad_s":[-5.264588846160542e-12,6.828068724529947e-10,-3.595530924786605e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313687480901688,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5877718150734201,-1.6061728082626083,1.4142023623494506,-1.4035478811125481,-1.5708181244041501,-0.016979450263075024,0.0],"actuator_force":[-0.08450442006596859,-20.0893156660336,-21.815131496416598,-2.3047613755851444,0.00011845952224120992,0.0007831226612431408,-0.2944634727240114],"issued_joint_targets_rad":[-1.5877918178667825,-1.5970064417471046,1.4295614053680583,-1.4031027898262043,-1.5708195485628975,-0.016995087637659313],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5877918178667825,-1.5970064417471046,1.4295614053680583,-1.4031027898262043,-1.5708195485628975,-0.016995087637659313],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3199999999999654,"qpos":[-1.5876480355346954,-1.5899821109766596,1.380844551552845,-1.363690001363145,-1.5708097631050966,-0.016843563743229168,0.0029212223021898164,0.00015655624915969195,0.0031801333387554676,-0.003418114034091834,0.0029211743936803326,0.00015609506861074477,0.0031827404850145015,-0.0034271951056099636,-0.1254627944317649,0.4773124477346319,0.29989224457978353,1.0,1.421806508039672e-13,-1.8439097726558468e-11,6.323687949986539e-19],"qvel":[-0.00048480667304096926,-0.0343303522183508,0.24683705572379488,-0.1981627861762056,-4.285303973174833e-05,-0.0007654302167624081,0.00023888644431422495,3.5437999962443035e-05,0.00010204001947823904,-0.0003709821236870948,0.00022995059741182458,-4.6322207159641625e-06,-4.1073324750276256e-05,-0.0003788807544032794,2.3091969308961123e-11,1.7805633875285812e-13,7.656263014814651e-15,-4.344255272509584e-12,5.634045388833956e-10,-6.56454822564946e-18],"joint_position_rad":[-1.5876480355346954,-1.5899821109766596,1.380844551552845,-1.363690001363145,-1.5708097631050966,-0.016843563743229168],"joint_velocity_rad_s":[-0.00048480667304096926,-0.0343303522183508,0.24683705572379488,-0.1981627861762056,-4.285303973174833e-05,-0.0007654302167624081],"linkage_position_rad":[0.0029212223021898164,0.00015655624915969195,0.0031801333387554676,-0.003418114034091834,0.0029211743936803326,0.00015609506861074477,0.0031827404850145015,-0.0034271951056099636],"tcp_position_m":[-0.1259594629705244,0.4780147798235975,0.41371103426432876],"tcp_quaternion_wxyz":[-0.0007011192667560595,0.7071093009965437,0.7071035319679271,0.0007348159193141548],"object_position_m":[-0.1254627944317649,0.4773124477346319,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.421806508039672e-13,-1.8439097726558468e-11,6.323687949986539e-19],"object_linear_velocity_m_s":[2.3091969308961123e-11,1.7805633875285812e-13,7.656263014814651e-15],"object_angular_velocity_rad_s":[-4.344255272509585e-12,5.634045388833956e-10,-6.564548223496489e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313661492005562,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5877874440080884,-1.6068849407193793,1.4192956283529292,-1.4079288403131769,-1.570818124547776,-0.016995087253639633,0.0],"actuator_force":[-0.08489427756967416,-20.07351859809887,-21.832668689349248,-2.303140857395306,0.00010458263352575159,0.0007812664710087347,-0.29446402000213767],"issued_joint_targets_rad":[-1.5878074327249885,-1.597707858357082,1.4346414164592203,-1.407481149768436,-1.5708195274111714,-0.017010703520174142],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5878074327249885,-1.597707858357082,1.4346414164592203,-1.407481149768436,-1.5708195274111714,-0.017010703520174142],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3399999999999632,"qpos":[-1.587662812982488,-1.5907196818133995,1.3859491363822012,-1.3678465115161853,-1.5708107179351456,-0.016859511889927393,0.0029235629123720683,0.0001565554165767602,0.003182465774155484,-0.0034203357437071506,0.0029235146966989966,0.00015609343219107888,0.0031850693867255444,-0.0034294166415904815,-0.12546279443116506,0.4773124477346366,0.29989224457978353,1.0,1.4776441741325898e-13,-1.916661204373522e-11,4.2816462130386945e-19],"qvel":[-0.0004883210388974727,-0.0341507453208405,0.24671582214479962,-0.19928324135056605,-3.7850425120138086e-05,-0.0007637528094043747,0.00021549657601202963,3.5357464299673e-05,7.988852356762532e-05,-0.00034853190433102935,0.00020662978449414603,-4.351151738680857e-06,-6.190767672432872e-05,-0.00035628668905482035,2.5340638083354305e-11,1.953620453736869e-13,7.652099678472306e-15,-2.750477527966106e-12,3.5656689945538354e-10,-1.198518439863608e-17],"joint_position_rad":[-1.587662812982488,-1.5907196818133995,1.3859491363822012,-1.3678465115161853,-1.5708107179351456,-0.016859511889927393],"joint_velocity_rad_s":[-0.0004883210388974727,-0.0341507453208405,0.24671582214479962,-0.19928324135056605,-3.7850425120138086e-05,-0.0007637528094043747],"linkage_position_rad":[0.0029235629123720683,0.0001565554165767602,0.003182465774155484,-0.0034203357437071506,0.0029235146966989966,0.00015609343219107888,0.0031850693867255444,-0.0034294166415904815],"tcp_position_m":[-0.1259524156410214,0.4780011798046806,0.41200841173760655],"tcp_quaternion_wxyz":[-0.0006276059770649421,0.7071089585689563,0.7071040177338876,0.000659489845857838],"object_position_m":[-0.12546279443116506,0.4773124477346366,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4776441741325898e-13,-1.916661204373522e-11,4.2816462130386945e-19],"object_linear_velocity_m_s":[2.5340638083354305e-11,1.953620453736869e-13,7.652099678472306e-15],"object_angular_velocity_rad_s":[-2.750477527966106e-12,3.5656689945538354e-10,-1.1985184457507173e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313640160835054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587803052880697,-1.6075789294683756,1.424367484478065,-1.4123065299569117,-1.5708181065363431,-0.017010703450601943,0.0],"actuator_force":[-0.0851513808593154,-20.05819718161547,-21.84963266619252,-2.3016850853066444,9.074191336821968e-05,0.0007795006031621199,-0.29446451225608417],"issued_joint_targets_rad":[-1.5878230297490619,-1.598391264723235,1.4397000903977601,-1.4118563147706986,-1.5708194903748476,-0.017026301720638553],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5878230297490619,-1.598391264723235,1.4397000903977601,-1.4118563147706986,-1.5708194903748476,-0.017026301720638553],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.359999999999961,"qpos":[-1.587677602819871,-1.5914523285639937,1.3910496500875171,-1.372024015122794,-1.570811577278021,-0.01687542658964359,0.002925480980535962,0.00015655467373011252,0.0031843783993309644,-0.0034221561869116662,0.0029254325151488575,0.00015609227871912824,0.003186980037681911,-0.0034312366344931566,-0.1254627944305837,0.47731244773464104,0.29989224457978353,1.0,1.4943106735160603e-13,-1.9385095227448605e-11,2.042362164257355e-19],"qvel":[-0.000492044889288626,-0.03390404136777724,0.24650773791908248,-0.20028158006628913,-3.3252020191029065e-05,-0.0007621549634228969,0.00019633436784940376,3.527747347736638e-05,6.192536101535533e-05,-0.0003301025333886453,0.00018753580096477236,-4.074148157294466e-06,-7.857337789470657e-05,-0.00033771882857295345,2.8572852160276767e-11,2.202506547205766e-13,7.65487523603387e-15,-2.106415815522331e-13,2.7136890002805093e-11,-2.1881932277058585e-17],"joint_position_rad":[-1.587677602819871,-1.5914523285639937,1.3910496500875171,-1.372024015122794,-1.570811577278021,-0.01687542658964359],"joint_velocity_rad_s":[-0.000492044889288626,-0.03390404136777724,0.24650773791908248,-0.20028158006628913,-3.3252020191029065e-05,-0.0007621549634228969],"linkage_position_rad":[0.002925480980535962,0.00015655467373011252,0.0031843783993309644,-0.0034221561869116662,0.0029254325151488575,0.00015609227871912824,0.003186980037681911,-0.0034312366344931566],"tcp_position_m":[-0.12594538744173273,0.4779875697672548,0.410305787196461],"tcp_quaternion_wxyz":[-0.0005611288678191789,0.7071086187006215,0.7071044737358987,0.0005913682185706789],"object_position_m":[-0.1254627944305837,0.47731244773464104,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4943106735160603e-13,-1.9385095227448605e-11,2.042362164257355e-19],"object_linear_velocity_m_s":[2.8572852160276767e-11,2.202506547205766e-13,7.65487523603387e-15],"object_angular_velocity_rad_s":[-2.1064158155223223e-13,2.7136890002805093e-11,-2.1881932333483944e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313622650847303,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587818644725528,-1.6082548554638456,1.4294181553888994,-1.4166810940737005,-1.5708180723251077,-0.01702630193528704,0.0],"actuator_force":[-0.08526585559866362,-20.043437252592867,-21.866084564868743,-2.3003814688242983,7.767847569084552e-05,0.0007778235205631034,-0.29446502562831184],"issued_joint_targets_rad":[-1.5878386155376736,-1.5990567106334348,1.444737663598283,-1.4162284567165742,-1.570819439211576,-0.017041888771988558],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.5878386155376736,-1.5990567106334348,1.444737663598283,-1.4162284567165742,-1.570819439211576,-0.017041888771988558],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3799999999999588,"qpos":[-1.5876924094325546,-1.5921787829040503,1.3961444633647877,-1.3762202092558142,-1.5708123489476689,-0.016891309947999377,0.002927052766096265,0.000156553997561962,0.003185947002338103,-0.0034236477783476907,0.0029270041036287974,0.00015609154797550302,0.0031885480688787827,-0.0034327275374308776,-0.1254627944299937,0.4773124477346456,0.29989224457978353,1.0,1.5399248522506591e-13,-1.9978700319361808e-11,-6.69055465520006e-20],"qvel":[-0.0004959585167372333,-0.033596978459265125,0.24622219062987055,-0.20117029331285063,-2.9027647348156747e-05,-0.0007606590414284117,0.00018063759640125874,3.519752909434951e-05,4.739601100588305e-05,-0.0003149682799594472,0.00017190629422187607,-3.802221557559697e-06,-9.182517731838328e-05,-0.00032244881209182204,3.4207620223336084e-11,2.6365749567631717e-13,7.654875236033868e-15,3.42881412750181e-12,-4.450340793703019e-10,-3.995080927777086e-17],"joint_position_rad":[-1.5876924094325546,-1.5921787829040503,1.3961444633647877,-1.3762202092558142,-1.5708123489476689,-0.016891309947999377],"joint_velocity_rad_s":[-0.0004959585167372333,-0.033596978459265125,0.24622219062987055,-0.20117029331285063,-2.9027647348156747e-05,-0.0007606590414284117],"linkage_position_rad":[0.002927052766096265,0.000156553997561962,0.003185947002338103,-0.0034236477783476907,0.0029270041036287974,0.00015609154797550302,0.0031885480688787827,-0.0034327275374308776],"tcp_position_m":[-0.12593837419015078,0.4779739554827129,0.4086031488194898],"tcp_quaternion_wxyz":[-0.0005010099110663844,0.7071082847472984,0.7071049016867167,0.0005297560008408988],"object_position_m":[-0.1254627944299937,0.4773124477346456,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5399248522506591e-13,-1.9978700319361808e-11,-6.69055465520006e-20],"object_linear_velocity_m_s":[3.4207620223336084e-11,2.6365749567631717e-13,7.654875236033868e-15],"object_angular_velocity_rad_s":[3.4288141275018116e-12,-4.450340793703019e-10,-3.995080933507884e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313608271008865,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5878342260465803,-1.6089127930099807,1.4344478803536822,-1.42105269780714,-1.570818023697463,-0.0170418892435538,0.0],"actuator_force":[-0.08524982135668324,-20.029228828154828,-21.882042274159176,-2.299214944377809,6.538983780046692e-05,0.0007762563656292798,-0.2944655629393688],"issued_joint_targets_rad":[-1.5878541964173014,-1.5997042425042802,1.4497543628063525,-1.4205977426868064,-1.570819375504266,-0.01705747094803879],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5878541964173014,-1.5997042425042802,1.4497543628063525,-1.4205977426868064,-1.570819375504266,-0.01705747094803879],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.3999999999999566,"qpos":[-1.587707236764363,-1.5928979042592126,1.4012321242747148,-1.3804330276384738,-1.5708130401620342,-0.016907164471458236,0.002928340770085649,0.00015655336741192828,0.003187233714418314,-0.003424869868464137,0.0029282919576660285,0.00015609118168227488,0.0031898354630588797,-0.0034339487236579457,-0.12546279442942226,0.47731244773465,0.29989224457978353,1.0,1.4679035809347959e-13,-1.9047071518647825e-11,-3.3393583620254015e-19],"qvel":[-0.0005000417133538224,-0.033235642600587895,0.2458676191063626,-0.20196065638584573,-2.514865560707179e-05,-0.0007592840779921306,0.0001677810514715743,3.51177533215868e-05,3.5679022300632236e-05,-0.00030253532480590303,0.0001591161140147311,-3.5349198544703536e-06,-0.00010228315991491479,-0.00030988265701450436,4.3170042301116816e-11,3.326325766674288e-13,7.643773005787614e-15,8.92307218131117e-12,-1.158844704690259e-09,-7.293988220737746e-17],"joint_position_rad":[-1.587707236764363,-1.5928979042592126,1.4012321242747148,-1.3804330276384738,-1.5708130401620342,-0.016907164471458236],"joint_velocity_rad_s":[-0.0005000417133538224,-0.033235642600587895,0.2458676191063626,-0.20196065638584573,-2.514865560707179e-05,-0.0007592840779921306],"linkage_position_rad":[0.002928340770085649,0.00015655336741192828,0.003187233714418314,-0.003424869868464137,0.0029282919576660285,0.00015609118168227488,0.0031898354630588797,-0.0034339487236579457],"tcp_position_m":[-0.125931372075464,0.4779603421886668,0.4069004859382207],"tcp_quaternion_wxyz":[-0.0004466363358164268,0.7071079592951083,0.7071053031321827,0.000474025141261185],"object_position_m":[-0.12546279442942226,0.47731244773465,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4679035809347959e-13,-1.9047071518647825e-11,-3.3393583620254015e-19],"object_linear_velocity_m_s":[4.3170042301116816e-11,3.326325766674288e-13,7.643773005787614e-15],"object_angular_velocity_rad_s":[8.923072181311174e-12,-1.158844704690259e-09,-7.29398825050478e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313596454824073,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5878498030853931,-1.6095528106119141,1.4394568886418533,-1.4254215021414083,-1.5708179622601115,-0.017057471651858044,0.0],"actuator_force":[-0.08511595671916439,-20.01555566516754,-21.89751890826801,-2.2981716128826974,5.381652204050624e-05,0.0007748175993089745,-0.2944661222150154],"issued_joint_targets_rad":[-1.5878697781888254,-1.6003339035564341,1.4547504039233103,-1.4249643334712563,-1.570819300675948,-0.017073054008424876],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5878697781888254,-1.6003339035564341,1.4547504039233103,-1.4249643334712563,-1.570819300675948,-0.017073054008424876],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4199999999999544,"qpos":[-1.5877220883441434,-1.5936086671947278,1.4063113402511986,-1.3846606174108922,-1.5708136575820586,-0.016922992980825852,0.0029293962144354784,0.0001565527669683252,0.0031882894500033757,-0.003425871097874601,0.0029293472942266484,0.00015609112962345722,0.003190893001050037,-0.0034349488551764073,-0.1254627944288559,0.4773124477346543,0.29989224457978353,1.0,1.3451319259034011e-13,-1.7457532285144965e-11,-6.106141676540681e-19],"qvel":[-0.0005042765150674131,-0.03282551464082209,0.24545160595093848,-0.20266283561014328,-2.158837129133871e-05,-0.0007580449227432151,0.00015725227135216584,3.503824734059428e-05,2.6264799940639094e-05,-0.00029231682180265174,0.00014865286148172681,-3.2718109309940133e-06,-0.00011045559506679061,-0.0002995333336608981,2.1302109233094468e-11,1.6414292337453112e-13,7.646548563349177e-15,-5.454767295915915e-12,7.077706187191996e-10,-7.902434401814264e-18],"joint_position_rad":[-1.5877220883441434,-1.5936086671947278,1.4063113402511986,-1.3846606174108922,-1.5708136575820586,-0.016922992980825852],"joint_velocity_rad_s":[-0.0005042765150674131,-0.03282551464082209,0.24545160595093848,-0.20266283561014328,-2.158837129133871e-05,-0.0007580449227432151],"linkage_position_rad":[0.0029293962144354784,0.0001565527669683252,0.0031882894500033757,-0.003425871097874601,0.0029293472942266484,0.00015609112962345722,0.003190893001050037,-0.0034349488551764073],"tcp_position_m":[-0.12592437763506295,0.47794673463132287,0.40519778898547687],"tcp_quaternion_wxyz":[-0.00039745440477144926,0.7071076442874407,0.7071056794966191,0.000423608174897106],"object_position_m":[-0.1254627944288559,0.4773124477346543,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3451319259034011e-13,-1.7457532285144965e-11,-6.106141676540681e-19],"object_linear_velocity_m_s":[2.1302109233094468e-11,1.6414292337453112e-13,7.646548563349177e-15],"object_angular_velocity_rad_s":[-5.454767295915914e-12,7.077706187191996e-10,-7.902434446395525e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313586738205588,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5878653815661443,-1.6101749713906564,1.4444453983833072,-1.4297876623527928,-1.5708178894580511,-0.01707305492222211,0.0],"actuator_force":[-0.08487583797477782,-20.00240253552829,-21.912526116158006,-2.2972389099359134,4.28991329499695e-05,0.0007735215761925929,-0.2944667010972758],"issued_joint_targets_rad":[-1.5878853661588237,-1.6009457339479902,1.4597259926912132,-1.4293283839841502,-1.5708192160050092,-0.01708864322786081],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5878853661588237,-1.6009457339479902,1.4597259926912132,-1.4293283839841502,-1.5708192160050092,-0.01708864322786081],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4399999999999522,"qpos":[-1.5877369673337434,-1.5943101499320669,1.411380961905733,-1.3889013181198102,-1.5708142073511362,-0.016938798534492077,0.002930261077018967,0.00015655218367859907,0.0031891559294538107,-0.003426691329743417,0.002930212086721828,0.00015609134876184305,0.0031917622832104728,-0.003435767814632746,-0.12546279442821892,0.4773124477346592,0.29989224457978353,1.0,1.4451167994674819e-13,-1.8756345544675413e-11,-1.0597113579819617e-18],"qvel":[-0.0005086471785206272,-0.0323715282981037,0.24498096303798275,-0.20328599625766444,-1.8322021224966143e-05,-0.0007569527754447509,0.00014863125432845078,3.495908736320726e-05,1.8735726440049278e-05,-0.0002839137626848088,0.0001400965921282162,-3.0125149283795587e-06,-0.00011675888818809056,-0.00029100165837848084,2.32717097558026e-11,1.7930519391877498e-13,7.647936342129959e-15,-4.721020620297285e-12,6.127045071579398e-10,-1.4427813583777717e-17],"joint_position_rad":[-1.5877369673337434,-1.5943101499320669,1.411380961905733,-1.3889013181198102,-1.5708142073511362,-0.016938798534492077],"joint_velocity_rad_s":[-0.0005086471785206272,-0.0323715282981037,0.24498096303798275,-0.20328599625766444,-1.8322021224966143e-05,-0.0007569527754447509],"linkage_position_rad":[0.002930261077018967,0.00015655218367859907,0.0031891559294538107,-0.003426691329743417,0.002930212086721828,0.00015609134876184305,0.0031917622832104728,-0.003435767814632746],"tcp_position_m":[-0.12591738772068872,0.47793313712059665,0.40349504939194825],"tcp_quaternion_wxyz":[-0.00035296373162622133,0.7071073411399693,0.7071060321085691,0.000377992382849846],"object_position_m":[-0.12546279442821892,0.4773124477346592,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4451167994674819e-13,-1.8756345544675413e-11,-1.0597113579819617e-18],"object_linear_velocity_m_s":[2.32717097558026e-11,1.7930519391877498e-13,7.647936342129959e-15],"object_angular_velocity_rad_s":[-4.721020620297282e-12,6.127045071579398e-10,-1.4427813596050593e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313578741001637,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.587880966726216,-1.6107793334323368,1.4494136172846959,-1.4341513283702019,-1.5708178065899376,-0.017088644331516686,0.0],"actuator_force":[-0.08453991353690071,-19.989755681298448,-21.92707445726728,-2.2964054994293974,3.258272181483335e-05,0.0007723790321705337,-0.2944672974193231],"issued_joint_targets_rad":[-1.5879009651894969,-1.601539770899414,1.4646813254555564,-1.4336900437782845,-1.5708191226392192,-0.017104243444313525],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.5879009651894969,-1.601539770899414,1.4646813254555564,-1.4336900437782845,-1.5708191226392192,-0.017104243444313525],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.45999999999995,"qpos":[-1.587751876572784,-1.5950015239847224,1.4164399684526643,-1.3931536427674613,-1.5708146951323445,-0.016954584363558574,0.002930969759800134,0.00015655160803842533,0.0031898673386950914,-0.003427363233813527,0.0029309207331066223,0.00015609180220160128,0.0031924773877180985,-0.0034364382894683286,-0.12546279442759492,0.4773124477346641,0.29989224457978353,1.0,1.5166340536729244e-13,-1.9685301044896256e-11,-1.5672242458063054e-18],"qvel":[-0.0005131399565351933,-0.03187812381512116,0.2444618086496891,-0.2038384008021479,-1.5326617497488576e-05,-0.0007560157570045261,0.0001415737795054957,3.488032369356685e-05,1.2749579331522014e-05,-0.0002769991140104145,0.00013310313734215116,-2.756703989355711e-06,-0.00012153415666313187,-0.0002839604361291184,2.5553573869874547e-11,1.9687612430530344e-13,7.645160784568396e-15,-3.3059103927087327e-12,4.290629796338827e-10,-2.6341423475638648e-17],"joint_position_rad":[-1.587751876572784,-1.5950015239847224,1.4164399684526643,-1.3931536427674613,-1.5708146951323445,-0.016954584363558574],"joint_velocity_rad_s":[-0.0005131399565351933,-0.03187812381512116,0.2444618086496891,-0.2038384008021479,-1.5326617497488576e-05,-0.0007560157570045261],"linkage_position_rad":[0.002930969759800134,0.00015655160803842533,0.0031898673386950914,-0.003427363233813527,0.0029309207331066223,0.00015609180220160128,0.0031924773877180985,-0.0034364382894683286],"tcp_position_m":[-0.12591039946673677,0.4779195535815131,0.4017922594880028],"tcp_quaternion_wxyz":[-0.00031271214093436524,0.7071070508373006,0.7071063622190298,0.0003367145103523633],"object_position_m":[-0.12546279442759492,0.4773124477346641,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5166340536729244e-13,-1.9685301044896256e-11,-1.5672242458063054e-18],"object_linear_velocity_m_s":[2.5553573869874547e-11,1.9687612430530344e-13,7.645160784568396e-15],"object_angular_velocity_rad_s":[-3.3059103927087303e-12,4.290629796338827e-10,-2.6341423485016047e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313572151832684,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5878965633654794,-1.611365950107869,1.4543617434204992,-1.4385126452396066,-1.570817714822233,-0.01710424471965751,0.0],"actuator_force":[-0.08411760277613212,-19.977602720244704,-21.94117352420608,-2.295661155857829,2.281680542637332e-05,0.0007713976509862164,-0.2944679092295761],"issued_joint_targets_rad":[-1.5879165797457135,-1.6021160488117905,1.4696165898651485,-1.438049457515501,-1.57081902160851,-0.01711985910459923],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5879165797457135,-1.6021160488117905,1.4696165898651485,-1.438049457515501,-1.57081902160851,-0.01711985910459923],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4799999999999478,"qpos":[-1.5877668186187537,-1.5956820448122675,1.421487454593582,-1.3974162607213296,-1.5708151261433319,-0.016970353817568246,0.002931550455982023,0.0001565510329656095,0.003190451689421617,-0.0034279135844450487,0.0029315014229827105,0.00015609245825340667,0.0031930662295335584,-0.003436987070117102,-0.1254627944269875,0.4773124477346687,0.29989224457978353,1.0,1.5489752957636476e-13,-2.0102933122989275e-11,-2.1281017586257516e-18],"qvel":[-0.0005177428816874669,-0.031349296476876315,0.24389963691231129,-0.20432749757724367,-1.2580844328169793e-05,-0.0007552394139442062,0.0001357977338058411,3.480198611789024e-05,8.0259262425887e-06,-0.0002713048296610566,0.00012739043181215568,-2.50409458131318e-06,-0.0001250608255558675,-0.00027814147331023896,2.864264211036183e-11,2.2070855337244252e-13,7.652099678472304e-15,-9.665021978585514e-13,1.2560980438632585e-10,-4.8092839223203924e-17],"joint_position_rad":[-1.5877668186187537,-1.5956820448122675,1.421487454593582,-1.3974162607213296,-1.5708151261433319,-0.016970353817568246],"joint_velocity_rad_s":[-0.0005177428816874669,-0.031349296476876315,0.24389963691231129,-0.20432749757724367,-1.2580844328169793e-05,-0.0007552394139442062],"linkage_position_rad":[0.002931550455982023,0.0001565510329656095,0.003190451689421617,-0.0034279135844450487,0.0029315014229827105,0.00015609245825340667,0.0031930662295335584,-0.003436987070117102],"tcp_position_m":[-0.12590341026146495,0.4779059876010193,0.40008941241455226],"tcp_quaternion_wxyz":[-0.00027629102277019915,0.7071067740135806,0.7071066710146112,0.00029935599402356643],"object_position_m":[-0.1254627944269875,0.4773124477346687,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5489752957636476e-13,-2.0102933122989275e-11,-2.1281017586257516e-18],"object_linear_velocity_m_s":[2.864264211036183e-11,2.2070855337244252e-13,7.652099678472304e-15],"object_angular_velocity_rad_s":[-9.665021978585488e-13,1.2560980438632585e-10,-4.809283916896524e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313566715663703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879121758927444,-1.6119348703668668,1.459289965958472,-1.442871753549289,-1.5708176152020952,-0.017119860535221677,0.0],"actuator_force":[-0.08361739530664636,-19.96593251844797,-21.954832035145046,-2.2949966562553072,1.3555051168623322e-05,0.0007705825677053468,-0.2944685347763267],"issued_joint_targets_rad":[-1.587932213937855,-1.6026745993778362,1.4745319655038887,-1.442406765387544,-1.5708189138365833,-0.017135494306032627],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.587932213937855,-1.6026745993778362,1.4745319655038887,-1.442406765387544,-1.5708189138365833,-0.017135494306032627],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.4999999999999456,"qpos":[-1.5877817957827918,-1.596351043393726,1.426522618714879,-1.4016879823019512,-1.570815505188958,-0.016986110319448272,0.0029320262704513027,0.00015655045329181813,0.003190931933803068,-0.0034283643244193127,0.0029319772580016835,0.00015609328964649407,0.0031935516739868205,-0.0034374361139365437,-0.12546279442640196,0.47731244773467324,0.29989224457978353,1.0,1.5237013702944764e-13,-1.9773699840957767e-11,-2.724026137934888e-18],"qvel":[-0.000522445572618939,-0.030788640388526578,0.24329938028610856,-0.20476000071365213,-1.006495023839047e-05,-0.0007546271563923916,0.00013107190562845043,3.472408857043283e-05,4.334972951456898e-06,-0.00026661121017037745,0.00012272730761040283,-2.2544407637966765e-06,-0.0001275677697071153,-0.0002733249358793474,3.336005569603785e-11,2.5706708834483405e-13,7.64793634212996e-15,2.641384835662362e-12,-3.4265756712228344e-10,-8.780522718285176e-17],"joint_position_rad":[-1.5877817957827918,-1.596351043393726,1.426522618714879,-1.4016879823019512,-1.570815505188958,-0.016986110319448272],"joint_velocity_rad_s":[-0.000522445572618939,-0.030788640388526578,0.24329938028610856,-0.20476000071365213,-1.006495023839047e-05,-0.0007546271563923916],"linkage_position_rad":[0.0029320262704513027,0.00015655045329181813,0.003190931933803068,-0.0034283643244193127,0.0029319772580016835,0.00015609328964649407,0.0031935516739868205,-0.0034374361139365437],"tcp_position_m":[-0.1258964177208966,0.47789244247055956,0.3983865020424763],"tcp_quaternion_wxyz":[-0.00024333113489008899,0.7071065110196282,0.7071069596269237,0.0002655386495403476],"object_position_m":[-0.12546279442640196,0.47731244773467324,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5237013702944764e-13,-1.9773699840957767e-11,-2.724026137934888e-18],"object_linear_velocity_m_s":[3.336005569603785e-11,2.5706708834483405e-13,7.64793634212996e-15],"object_angular_velocity_rad_s":[2.6413848356623635e-12,-3.4265756712228344e-10,-8.780522714451086e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313562223620503,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879278083680455,-1.6124861390071352,1.4641984658144698,-1.4472287898096252,-1.5708175086690939,-0.017135495877114968,0.0],"actuator_force":[-0.08304694145999747,-19.954735071407868,-21.968057915261852,-2.2944036824717386,4.754955853059073e-06,0.0007699368058897704,-0.2944691724888435],"issued_joint_targets_rad":[-1.587947871560768,-1.6032154516852533,1.4794276244599083,-1.446762103492061,-1.570818800151431,-0.0171511528343853],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.587947871560768,-1.6032154516852533,1.4794276244599083,-1.446762103492061,-1.570818800151431,-0.0171511528343853],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5199999999999434,"qpos":[-1.5877968101616218,-1.5970079186302657,1.4315447522670588,-1.4059677448836765,-1.5708158366918041,-0.01700185732842854,0.002932416138035189,0.00015654986535311837,0.003191326877984783,-0.0034287334367930737,0.002932367170084843,0.00015609427286768872,0.0031939524492748043,-0.0034378034171895673,-0.1254627944258468,0.4773124477346775,0.29989224457978353,1.0,1.4140203975753134e-13,-1.8350457674032237e-11,-3.310915076707215e-18],"qvel":[-0.0005272390621409531,-0.030199387963523606,0.2426654658008723,-0.20514196221135245,-7.76064559357025e-06,-0.0007541806371480828,0.00012720680066691012,3.464663288047481e-05,1.4884241694823136e-06,-0.0002627381810137005,0.00011892431042988372,-2.0075280604975556e-06,-0.00012924244404249367,-0.00026933062503288886,4.109270944569924e-11,3.1663678822132726e-13,7.649324120910743e-15,8.001858576023558e-12,-1.0386811727928488e-09,-1.6031014666939268e-16],"joint_position_rad":[-1.5877968101616218,-1.5970079186302657,1.4315447522670588,-1.4059677448836765,-1.5708158366918041,-0.01700185732842854],"joint_velocity_rad_s":[-0.0005272390621409531,-0.030199387963523606,0.2426654658008723,-0.20514196221135245,-7.76064559357025e-06,-0.0007541806371480828],"linkage_position_rad":[0.002932416138035189,0.00015654986535311837,0.003191326877984783,-0.0034287334367930737,0.002932367170084843,0.00015609427286768872,0.0031939524492748043,-0.0034378034171895673],"tcp_position_m":[-0.12588941966516703,0.47787892122484127,0.39668352289983766],"tcp_quaternion_wxyz":[-0.00021349880934821695,0.7071062619787991,0.7071072291391576,0.00023492077537866092],"object_position_m":[-0.1254627944258468,0.4773124477346775,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4140203975753134e-13,-1.8350457674032237e-11,-3.310915076707215e-18],"object_linear_velocity_m_s":[4.109270944569924e-11,3.1663678822132726e-13,7.649324120910743e-15],"object_angular_velocity_rad_s":[8.001858576023558e-12,-1.0386811727928488e-09,-1.6031014673713143e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313558504645274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879434645410744,-1.6130197969210065,1.4690874162423422,-1.451583886791806,-1.5708173960658294,-0.017151154532546568,0.0],"actuator_force":[-0.08241313404914763,-19.944001396072053,-21.980858369782254,-2.2938747329295666,-3.622453277785098e-06,0.0007694616557945011,-0.29446982096148555],"issued_joint_targets_rad":[-1.5879635561292167,-1.6037386323122274,1.4843037318378685,-1.4511156041686966,-1.5708186812948641,-0.017166838198531913],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5879635561292167,-1.6037386323122274,1.4843037318378685,-1.4511156041686966,-1.5708186812948641,-0.017166838198531913],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5399999999999412,"qpos":[-1.5878118636660683,-1.5976521304958529,1.436553230207468,-1.4102546003595702,-1.5708161247206562,-0.01701759830985173,0.0029327355760547067,0.0001565492666607412,0.0031916519306977404,-0.003429035659424621,0.002932686673943092,0.00015609538760517767,0.003194283894168711,-0.003438103729681642,-0.12546279442530672,0.4773124477346817,0.29989224457978353,1.0,1.2765690729707408e-13,-1.6567542616212524e-11,-3.919009638711367e-18],"qvel":[-0.0005321156449617158,-0.02958444553704808,0.24200186566131301,-0.205478836923185,-5.651005514774332e-06,-0.0007539000792013021,0.00012404711481364336,3.4569611771259194e-05,-6.680064689357372e-07,-0.00025953814402013205,0.00011582617284496921,-1.7631686360945535e-06,-0.0001302383658756744,-0.0002660108298311819,2.0289157014924138e-11,1.563358127809246e-13,7.64793634212996e-15,-5.249763361406932e-12,6.812780494624592e-10,-1.736830865634676e-17],"joint_position_rad":[-1.5878118636660683,-1.5976521304958529,1.436553230207468,-1.4102546003595702,-1.5708161247206562,-0.01701759830985173],"joint_velocity_rad_s":[-0.0005321156449617158,-0.02958444553704808,0.24200186566131301,-0.205478836923185,-5.651005514774332e-06,-0.0007539000792013021],"linkage_position_rad":[0.0029327355760547067,0.0001565492666607412,0.0031916519306977404,-0.003429035659424621,0.002932686673943092,0.00015609538760517767,0.003194283894168711,-0.003438103729681642],"tcp_position_m":[-0.1258824140970689,0.4778654266771869,0.3949804701061542],"tcp_quaternion_wxyz":[-0.00018649252460257014,0.7071060268334088,0.7071074805906148,0.00020719363248768743],"object_position_m":[-0.12546279442530672,0.4773124477346817,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.2765690729707408e-13,-1.6567542616212524e-11,-3.919009638711367e-18],"object_linear_velocity_m_s":[2.0289157014924138e-11,1.563358127809246e-13,7.64793634212996e-15],"object_angular_velocity_rad_s":[-5.249763361406925e-12,6.812780494624592e-10,-1.736830866800558e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313555418659392,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879591478861523,-1.6135358813198366,1.4739569833648958,-1.455937173830114,-1.5708172781475558,-0.017166840011690034,0.0],"actuator_force":[-0.08172218218305716,-19.933723433148316,-21.993239949669714,-2.2934030429534005,-1.1612898219937051e-05,0.0007691570009775717,-0.294470478938183],"issued_joint_targets_rad":[-1.5879792709102065,-1.6042441654150348,1.4891604462197912,-1.4554673962997877,-1.5708185579311262,-0.017182553662094924],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.5879792709102065,-1.6042441654150348,1.4891604462197912,-1.4554673962997877,-1.5708185579311262,-0.017182553662094924],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.559999999999939,"qpos":[-1.587826958046545,-1.5982831938624227,1.441547502399965,-1.4145477038363305,-1.5708163730170757,-0.01703333671092515,0.0029329973010755396,0.0001565486556366268,0.0031919197167349436,-0.0034292830705762323,0.0029329484837978914,0.00015609661628113755,0.003194558570682294,-0.0034383491404719785,-0.12546279442470679,0.4773124477346863,0.29989224457978353,1.0,1.3578205092123666e-13,-1.7624254213663088e-11,-4.9060549048336585e-18],"qvel":[-0.0005370687430787323,-0.028946425480850326,0.2413121427846068,-0.2057755411496586,-3.7203779611597504e-06,-0.0007537845580782275,0.00012146556520678162,3.4493011264057825e-05,-2.260734549033829e-06,-0.0002568901198088046,0.0001133056456936125,-1.5211971853944726e-06,-0.0001306812457811643,-0.0002632444666034806,2.1905749016773995e-11,1.6876865548332076e-13,7.645160784568397e-15,-4.482767366788131e-12,5.817814233613276e-10,-3.1710068027077754e-17],"joint_position_rad":[-1.587826958046545,-1.5982831938624227,1.441547502399965,-1.4145477038363305,-1.5708163730170757,-0.01703333671092515],"joint_velocity_rad_s":[-0.0005370687430787323,-0.028946425480850326,0.2413121427846068,-0.2057755411496586,-3.7203779611597504e-06,-0.0007537845580782275],"linkage_position_rad":[0.0029329973010755396,0.0001565486556366268,0.0031919197167349436,-0.0034292830705762323,0.0029329484837978914,0.00015609661628113755,0.003194558570682294,-0.0034383491404719785],"tcp_position_m":[-0.12587539918258128,0.47785196145184544,0.39327733931305614],"tcp_quaternion_wxyz":[-0.00016203980791692027,0.707105805383265,0.707107714979755,0.00018207826364638406],"object_position_m":[-0.12546279442470679,0.4773124477346863,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3578205092123666e-13,-1.7624254213663088e-11,-4.9060549048336585e-18],"object_linear_velocity_m_s":[2.1905749016773995e-11,1.6876865548332076e-13,7.645160784568397e-15],"object_angular_velocity_rad_s":[-4.482767366788125e-12,5.817814233613276e-10,-3.171006804699136e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313552850961324,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879748616341085,-1.6140344259380044,1.4788073266515054,-1.4602887770919595,-1.5708171555908799,-0.017182555579341393,0.0],"actuator_force":[-0.08097967789581162,-19.923893958823555,-22.00520861076211,-2.292982512848539,-1.9249106003371708e-05,0.0007690215997016026,-0.29447114529817353],"issued_joint_targets_rad":[-1.5879950189525156,-1.6047320728078578,1.4939979200793199,-1.4598176055796168,-1.5708184306546762,-0.017198302272434116],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5879950189525156,-1.6047320728078578,1.4939979200793199,-1.4598176055796168,-1.5708184306546762,-0.017198302272434116],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5799999999999368,"qpos":[-1.5878420949158585,-1.598900672933251,1.446527085875664,-1.418846303438336,-1.5708165850201556,-0.017049075941588672,0.002933211734362111,0.00015654803140240922,0.003192140579685349,-0.0034294855688323436,0.0029331630188083936,0.00015609794365681936,0.0031947867660778464,-0.003438549557900747,-0.12546279442408356,0.47731244773469117,0.29989224457978353,1.0,1.4940528183609444e-13,-1.939387303126871e-11,-6.1656906588747454e-18],"qvel":[-0.0005420927870302783,-0.0282876751598055,0.24059949177659742,-0.20603650547529345,-1.954296868414879e-06,-0.0007538322449308977,0.00011935783437419704,3.441681247901635e-05,-3.393335463907147e-06,-0.00025469494450562163,0.00011125844251998139,-1.2814674905009367e-06,-0.00013067401201159872,-0.00026093227756438956,2.4762653119042942e-11,1.9076644491857656e-13,7.652099678472306e-15,-3.4497524114534906e-12,4.477522429093582e-10,-5.789480614428956e-17],"joint_position_rad":[-1.5878420949158585,-1.598900672933251,1.446527085875664,-1.418846303438336,-1.5708165850201556,-0.017049075941588672],"joint_velocity_rad_s":[-0.0005420927870302783,-0.0282876751598055,0.24059949177659742,-0.20603650547529345,-1.954296868414879e-06,-0.0007538322449308977],"linkage_position_rad":[0.002933211734362111,0.00015654803140240922,0.003192140579685349,-0.0034294855688323436,0.0029331630188083936,0.00015609794365681936,0.0031947867660778464,-0.003438549557900747],"tcp_position_m":[-0.1258683732331839,0.4778385280135979,0.3915741266507333],"tcp_quaternion_wxyz":[-0.00013989443624030744,0.7071055973175772,0.7071079332662035,0.00015932261973357033],"object_position_m":[-0.12546279442408356,0.47731244773469117,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4940528183609444e-13,-1.939387303126871e-11,-6.1656906588747454e-18],"object_linear_velocity_m_s":[2.4762653119042942e-11,1.9076644491857656e-13,7.652099678472306e-15],"object_angular_velocity_rad_s":[-3.4497524114534825e-12,4.477522429093582e-10,-5.789480615930999e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313550707636603,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5879906088014066,-1.6145154612177457,1.4836385993474448,-1.4646388198193478,-1.5708170290016261,-0.01719830428392072,0.0],"actuator_force":[-0.08019065628377575,-19.91450650506704,-22.01676976707722,-2.292607642976577,-2.6561048457551806e-05,0.0007690533270654498,-0.2944718190429961],"issued_joint_targets_rad":[-1.5880108031137365,-1.6052023740349664,1.498816300153823,-1.4641663547557406,-1.5708182999972116,-0.017214086887234015],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5880108031137365,-1.6052023740349664,1.498816300153823,-1.4641663547557406,-1.5708182999972116,-0.017214086887234015],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.5999999999999346,"qpos":[-1.5878572757696503,-1.5995041762246642,1.451491557868489,-1.4231497311118528,-1.5708167638895738,-0.017064819359776735,0.0029333874161181347,0.0001565473936104393,0.0031923229939096994,-0.0034296512664371737,0.0029333388172878808,0.00015609935649951482,0.0031949769041907817,-0.0034387131030057944,-0.12546279442346508,0.4773124477346959,0.29989224457978353,1.0,1.5711697755885751e-13,-2.039400174353844e-11,-7.567204859371005e-18],"qvel":[-0.0005471831113722514,-0.027610303037754143,0.23986677580239954,-0.20626572241445248,-3.3940018747324755e-07,-0.0007540406152966139,0.00011763842661721622,3.434099314302961e-05,-4.150667380685157e-06,-0.0002528713363318269,0.00010959909622780308,-1.0438495679627664e-06,-0.00013030092705809107,-0.0002589928933783035,2.8199532066071812e-11,2.1724969193913244e-13,7.650711899691524e-15,-1.4832749142409266e-12,1.926333785778177e-10,-1.0570088491253063e-16],"joint_position_rad":[-1.5878572757696503,-1.5995041762246642,1.451491557868489,-1.4231497311118528,-1.5708167638895738,-0.017064819359776735],"joint_velocity_rad_s":[-0.0005471831113722514,-0.027610303037754143,0.23986677580239954,-0.20626572241445248,-3.3940018747324755e-07,-0.0007540406152966139],"linkage_position_rad":[0.0029333874161181347,0.0001565473936104393,0.0031923229939096994,-0.0034296512664371737,0.0029333388172878808,0.00015609935649951482,0.0031949769041907817,-0.0034387131030057944],"tcp_position_m":[-0.1258613346897718,0.47782512869497745,0.389870828679601],"tcp_quaternion_wxyz":[-0.00011983390680385465,0.7071054022413343,0.7071081363720491,0.0001386989633000679],"object_position_m":[-0.12546279442346508,0.4773124477346959,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5711697755885751e-13,-2.039400174353844e-11,-7.567204859371005e-18],"object_linear_velocity_m_s":[2.8199532066071812e-11,2.1724969193913244e-13,7.650711899691524e-15],"object_angular_velocity_rad_s":[-1.4832749142409195e-12,1.926333785778177e-10,-1.0570088488040457e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135489117972,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880063922168115,-1.6149790144760978,1.4884509488595168,-1.4689874225450386,-1.570816898921936,-0.017214088984070494,0.0],"actuator_force":[-0.07935964977377807,-19.90555528776531,-22.02792833890453,-2.2922734751475673,-3.357616230914573e-05,0.0007692493827828883,-0.29447249928452585],"issued_joint_targets_rad":[-1.588026626085116,-1.605655086435487,1.5036157277783584,-1.4685137638455246,-1.5708181664340053,-0.017229910198980403],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.588026626085116,-1.605655086435487,1.5036157277783584,-1.4685137638455246,-1.5708181664340053,-0.017229910198980403],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6199999999999324,"qpos":[-1.5878725020047542,-1.6000933520420664,1.4564405495478823,-1.427457394331179,-1.570816912527027,-0.017080570260449696,0.0029335313449735064,0.0001565467423099758,0.003192473902143211,-0.0034297868116334724,0.0029334828761688955,0.00015610084329999375,0.0031951358824443034,-0.003438846431962106,-0.12546279442285974,0.47731244773470055,0.29989224457978353,1.0,1.5789081093974335e-13,-2.04947131899663e-11,-9.074540602503934e-18],"qvel":[-0.0005523358629820954,-0.026916202210669475,0.2391165597618995,-0.20646678937831353,1.1366472943052252e-06,-0.000754406628154086,0.00011623727202485275,3.4265528589981496e-05,-4.6022495428888045e-06,-0.0002513526687703793,0.00010825756335119228,-8.082271906752179e-07,-0.00012963096152612626,-0.00025735960842090375,3.286951225592679e-11,2.5322896761178144e-13,7.653487457253088e-15,1.7761502012278874e-12,-2.306293949752209e-10,-1.9298330390770977e-16],"joint_position_rad":[-1.5878725020047542,-1.6000933520420664,1.4564405495478823,-1.427457394331179,-1.570816912527027,-0.017080570260449696],"joint_velocity_rad_s":[-0.0005523358629820954,-0.026916202210669475,0.2391165597618995,-0.20646678937831353,1.1366472943052252e-06,-0.000754406628154086],"linkage_position_rad":[0.0029335313449735064,0.0001565467423099758,0.003192473902143211,-0.0034297868116334724,0.0029334828761688955,0.00015610084329999375,0.0031951358824443034,-0.003438846431962106],"tcp_position_m":[-0.12585428210800978,0.4778117657213907,0.3881674423466994],"tcp_quaternion_wxyz":[-0.00010165715145635467,0.707105219697039,0.7071083251826834,0.00012000152269225846],"object_position_m":[-0.12546279442285974,0.47731244773470055,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5789081093974335e-13,-2.04947131899663e-11,-9.074540602503934e-18],"object_linear_velocity_m_s":[3.286951225592679e-11,2.5322896761178144e-13,7.653487457253088e-15],"object_angular_velocity_rad_s":[1.776150201227891e-12,-2.306293949752209e-10,-1.9298330393285626e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931354740050044,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880222145458907,-1.6154251100551833,1.4932445171021502,-1.4733347032862867,-1.5708167658366738,-0.01722991237314195,0.0],"actuator_force":[-0.07849073708030119,-19.89703514196617,-22.03868879622405,-2.2919755397224435,-4.031955279515387e-05,0.0007696064692819249,-0.2944731852340003],"issued_joint_targets_rad":[-1.588042490414445,-1.6060902252009706,1.508396339185062,-1.4728599503306268,-1.5708180303896115,-0.01724577475754816],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.588042490414445,-1.6060902252009706,1.508396339185062,-1.4728599503306268,-1.5708180303896115,-0.01724577475754816],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6399999999999302,"qpos":[-1.5878877749357212,-1.6006678844015323,1.461373740378777,-1.4317687686181892,-1.5708170335961567,-0.01709633186785088,0.0029336492562068556,0.00015654607784117226,0.003192598992146244,-0.003429897652858919,0.002933600929206323,0.0001561023940334415,0.0031952693479749897,-0.003438955000346881,-0.12546279442227878,0.477312447734705,0.29989224457978353,1.0,1.4984618441585073e-13,-1.9452566466577282e-11,-1.0595721142189162e-17],"qvel":[-0.0005575479208979244,-0.026207071618105104,0.23835114013928305,-0.20664294742389247,2.485226598846792e-06,-0.0007549268791447186,0.00011509694327626436,3.4190392844131373e-05,-4.805031238561471e-06,-0.000250084327035105,0.0001071764410582545,-5.744959478834468e-07,-0.00012872055755939587,-0.00025597773573360046,4.0097552684059824e-11,3.088350991462403e-13,7.657650793595433e-15,6.765898683209437e-12,-8.789881511900271e-10,-3.523388609399577e-16],"joint_position_rad":[-1.5878877749357212,-1.6006678844015323,1.461373740378777,-1.4317687686181892,-1.5708170335961567,-0.01709633186785088],"joint_velocity_rad_s":[-0.0005575479208979244,-0.026207071618105104,0.23835114013928305,-0.20664294742389247,2.485226598846792e-06,-0.0007549268791447186],"linkage_position_rad":[0.0029336492562068556,0.00015654607784117226,0.003192598992146244,-0.003429897652858919,0.002933600929206323,0.0001561023940334415,0.0031952693479749897,-0.003438955000346881],"tcp_position_m":[-0.1258472141449759,0.4777984412344123,0.3864639649463598],"tcp_quaternion_wxyz":[-8.51824712539773e-05,0.7071050491825575,0.7071085005473603,0.00010304437255316639],"object_position_m":[-0.12546279442227878,0.477312447734705,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4984618441585073e-13,-1.9452566466577282e-11,-1.0595721142189162e-17],"object_linear_velocity_m_s":[4.0097552684059824e-11,3.088350991462403e-13,7.657650793595433e-15],"object_angular_velocity_rad_s":[6.765898683209432e-12,-8.789881511900271e-10,-3.523388611378112e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313546122224811,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588038078313593,-1.615853769456951,1.4980194408076657,-1.4776807777186922,-1.5708166301791997,-0.017245777001791873,0.0],"actuator_force":[-0.07758758738418692,-19.88894146359553,-22.049055197936013,-2.2917098078622757,-4.6814181246190856e-05,0.0007701209439776591,-0.2944738761923315],"issued_joint_targets_rad":[-1.5880583985272387,-1.6065078034259785,1.513158265771163,-1.4772050293318797,-1.5708178922430107,-0.017261682991141024],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.5880583985272387,-1.6065078034259785,1.513158265771163,-1.4772050293318797,-1.5708178922430107,-0.017261682991141024],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.659999999999928,"qpos":[-1.5879030958097495,-1.6012274893529692,1.4662908530459298,-1.4360833907954396,-1.5708171295410507,-0.017112107330521122,0.0029337458497590897,0.0001565454007511088,0.0031927029234046617,-0.0034299882552529574,0.0029336976749734047,0.00015610399995590567,0.0031953819238597306,-0.003439043279722029,-0.12546279442173777,0.47731244773470916,0.29989224457978353,1.0,1.2979969597402074e-13,-1.6852265012734928e-11,-1.1932226042927159e-17],"qvel":[-0.0005628168265585787,-0.025484435159600884,0.23757257185885186,-0.2067971162005504,3.7168327732332885e-06,-0.0007555977315391668,0.00011417037453613373,3.4115559081806724e-05,-4.805660924981003e-06,-0.0002490215429508217,0.00010630868627032828,-3.425614505719312e-07,-0.0001276158945001921,-0.00025480243978963835,2.0608156468862856e-11,1.5873119319353785e-13,7.656263014814653e-15,-5.546018535316386e-12,7.199701096142634e-10,-3.8173019769568656e-17],"joint_position_rad":[-1.5879030958097495,-1.6012274893529692,1.4662908530459298,-1.4360833907954396,-1.5708171295410507,-0.017112107330521122],"joint_velocity_rad_s":[-0.0005628168265585787,-0.025484435159600884,0.23757257185885186,-0.2067971162005504,3.7168327732332885e-06,-0.0007555977315391668],"linkage_position_rad":[0.0029337458497590897,0.0001565454007511088,0.0031927029234046617,-0.0034299882552529574,0.0029336976749734047,0.00015610399995590567,0.0031953819238597306,-0.003439043279722029],"tcp_position_m":[-0.12584012954695512,0.477785157313503,0.3847603940847315],"tcp_quaternion_wxyz":[-7.024567007548768e-05,0.707104890165718,0.707108663279614,8.76595188545895e-05],"object_position_m":[-0.12546279442173777,0.47731244773470916,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.2979969597402074e-13,-1.6852265012734928e-11,-1.1932226042927159e-17],"object_linear_velocity_m_s":[2.0608156468862856e-11,1.5873119319353785e-13,7.656263014814653e-15],"object_angular_velocity_rad_s":[-5.546018535316367e-12,7.199701096142634e-10,-3.8173019791714225e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313545034802062,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880539859251466,-1.6162650114634147,1.5027758518040337,-1.4820257593324089,-1.5708164923365744,-0.017261685298930362,0.0],"actuator_force":[-0.07665350017077799,-19.881270157050494,-22.05903122733298,-2.2914726484295898,-5.3081039141034125e-05,0.000770788949296275,-0.29447457154065704],"issued_joint_targets_rad":[-1.588074352746429,-1.6069078321518973,1.5179016343384926,-1.4815491137667458,-1.5708177523322384,-0.01727763722578538],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.588074352746429,-1.6069078321518973,1.5179016343384926,-1.4815491137667458,-1.5708177523322384,-0.01727763722578538],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6799999999999258,"qpos":[-1.587918465820225,-1.6017719116651443,1.4711916488859853,-1.4404008529008745,-1.5708172026034062,-0.017127899718666857,0.0029338249770985573,0.0001565447117289275,0.003192789512898933,-0.003430062278100355,0.002933776963711096,0.00015610565343092162,0.0031954773944584875,-0.0034391149351457647,-0.12546279442111205,0.47731244773471393,0.29989224457978353,1.0,1.388164758830577e-13,-1.802355139321649e-11,-1.4372339600363294e-17],"qvel":[-0.0005681407234637765,-0.02474965892065312,0.23678269244609115,-0.20693192546825526,4.841138866378795e-06,-0.0007564154280110973,0.00011341899200229192,3.404100020738077e-05,-4.642346045622837e-06,-0.00024812761707568564,0.00010561574637672228,-1.1233792572456894e-07,-0.00012635474408545844,-0.00025379696076536395,2.226374773951059e-11,1.7147692506545002e-13,7.652099678472308e-15,-4.8879368649975754e-12,6.346126957207403e-10,-6.969412200016154e-17],"joint_position_rad":[-1.587918465820225,-1.6017719116651443,1.4711916488859853,-1.4404008529008745,-1.5708172026034062,-0.017127899718666857],"joint_velocity_rad_s":[-0.0005681407234637765,-0.02474965892065312,0.23678269244609115,-0.20693192546825526,4.841138866378795e-06,-0.0007564154280110973],"linkage_position_rad":[0.0029338249770985573,0.0001565447117289275,0.003192789512898933,-0.003430062278100355,0.002933776963711096,0.00015610565343092162,0.0031954773944584875,-0.0034391149351457647],"tcp_position_m":[-0.12583302713825584,0.477771915996388,0.3830567276477883],"tcp_quaternion_wxyz":[-5.669836808838034e-05,0.7071047420961888,0.707108814157622,7.369516872037959e-05],"object_position_m":[-0.12546279442111205,0.47731244773471393,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.388164758830577e-13,-1.802355139321649e-11,-1.4372339600363294e-17],"object_linear_velocity_m_s":[2.226374773951059e-11,1.7147692506545002e-13,7.652099678472308e-15],"object_angular_velocity_rad_s":[-4.8879368649975544e-12,6.346126957207403e-10,-6.969412200672819e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313544103723131,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880699396854963,-1.6166588522433387,1.5075138772631076,-1.4863697595727032,-1.5708163526542458,-0.017277639591221954,0.0],"actuator_force":[-0.07569144115723248,-19.874017588128027,-22.068620224192273,-2.291260789088824,-5.9139306358702015e-05,0.000771606523560564,-0.2944752707323777],"issued_joint_targets_rad":[-1.5880903553107748,-1.6072903204041316,1.522626567307,-1.4858923144912697,-1.5708176109585519,-0.01729363970358282],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5880903553107748,-1.6072903204041316,1.522626567307,-1.4858923144912697,-1.5708176109585519,-0.01729363970358282],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.6999999999999236,"qpos":[-1.587933886119051,-1.6023009218367612,1.4760759237763001,-1.4447207966992508,-1.5708172548384411,-0.017143712023536165,0.002933889794363007,0.0001565440115547128,0.003192861887327682,-0.0034301227202554172,0.0029338419504559067,0.00015610734778188687,0.003195558857257002,-0.0034391729706551295,-0.1254627944205013,0.47731244773471865,0.29989224457978353,1.0,1.458670573701856e-13,-1.8939787436133868e-11,-1.7140824186713584e-17],"qvel":[-0.0005735183054204771,-0.024003966692682954,0.23598314376275212,-0.20704974352492853,5.867055874179035e-06,-0.0007573761859975183,0.00011281118171496224,3.396668924012503e-05,-4.346376551617166e-06,-0.000247372463918068,0.00010506602721182654,1.1625299511592295e-07,-0.00012496799116517974,-0.0002529311576569041,2.4240990655309543e-11,1.8669536096261862e-13,7.65348745725309e-15,-3.6568509900220885e-12,4.748007394843679e-10,-1.2724382721664594e-16],"joint_position_rad":[-1.587933886119051,-1.6023009218367612,1.4760759237763001,-1.4447207966992508,-1.5708172548384411,-0.017143712023536165],"joint_velocity_rad_s":[-0.0005735183054204771,-0.024003966692682954,0.23598314376275212,-0.20704974352492853,5.867055874179035e-06,-0.0007573761859975183],"linkage_position_rad":[0.002933889794363007,0.0001565440115547128,0.003192861887327682,-0.0034301227202554172,0.0029338419504559067,0.00015610734778188687,0.003195558857257002,-0.0034391729706551295],"tcp_position_m":[-0.12582590581094408,0.4777587192983157,0.3813529637724819],"tcp_quaternion_wxyz":[-4.440647774211834e-05,0.7071046044150842,0.7071089539245867,6.101416721608607e-05],"object_position_m":[-0.1254627944205013,0.47731244773471865,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.458670573701856e-13,-1.8939787436133868e-11,-1.7140824186713584e-17],"object_linear_velocity_m_s":[2.4240990655309543e-11,1.8669536096261862e-13,7.65348745725309e-15],"object_angular_velocity_rad_s":[-3.6568509900220675e-12,4.748007394843679e-10,-1.2724382722103342e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313543300750504,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5880859418174822,-1.6170353054461877,1.5122336399219476,-1.490712887966622,-1.5708162114402666,-0.017293642121344738,0.0],"actuator_force":[-0.07470407469418205,-19.867180541779817,-22.077825213806136,-2.291071281192785,-6.500650022189802e-05,0.0007725696954636874,-0.2944759732855796],"issued_joint_targets_rad":[-1.588106408392179,-1.6076552752227984,1.5273331829044823,-1.4902347404282135,-1.570817468390181,-0.017309692599903302],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.588106408392179,-1.6076552752227984,1.5273331829044823,-1.4902347404282135,-1.570817468390181,-0.017309692599903302],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7199999999999214,"qpos":[-1.5879493578279558,-1.6028143134012431,1.4809435044346249,-1.4490429087317682,-1.570817288129638,-0.017159547158507978,0.0029339428878638555,0.00015654330106003967,0.003192922607841802,-0.0034301720393272723,0.002933895220531406,0.00015610907716530697,0.003195628847257355,-0.003439219848506704,-0.12546279441990746,0.47731244773472326,0.29989224457978353,1.0,1.4975181647423119e-13,-1.9445533401505402e-11,-2.022115174403779e-17],"qvel":[-0.0005789487725324455,-0.023248453953417163,0.23517539155771994,-0.20715270284678475,6.802788794303605e-06,-0.0007584762790534326,0.0001123210338212049,3.3892599503610546e-05,-3.943374313262326e-06,-0.0002467314205578492,0.00010463363747428758,3.432833568869112e-07,-0.00012348087927841964,-0.0002521803159024168,2.6916371294579742e-11,2.0728413960910608e-13,7.649324120910744e-15,-1.6234488768910357e-12,2.10695435783605e-10,-2.3231554119390737e-16],"joint_position_rad":[-1.5879493578279558,-1.6028143134012431,1.4809435044346249,-1.4490429087317682,-1.570817288129638,-0.017159547158507978],"joint_velocity_rad_s":[-0.0005789487725324455,-0.023248453953417163,0.23517539155771994,-0.20715270284678475,6.802788794303605e-06,-0.0007584762790534326],"linkage_position_rad":[0.0029339428878638555,0.00015654330106003967,0.003192922607841802,-0.0034301720393272723,0.002933895220531406,0.00015610907716530697,0.003195628847257355,-0.003439219848506704],"tcp_position_m":[-0.12581876451537655,0.4777455692304063,0.37964910082073067],"tcp_quaternion_wxyz":[-3.324882660930985e-05,0.7071044765626605,0.7071090832891663,4.94925849842657e-05],"object_position_m":[-0.12546279441990746,0.47731244773472326,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4975181647423119e-13,-1.9445533401505402e-11,-2.022115174403779e-17],"object_linear_velocity_m_s":[2.6916371294579742e-11,2.0728413960910608e-13,7.649324120910744e-15],"object_angular_velocity_rad_s":[-1.6234488768910182e-12,2.10695435783605e-10,-2.323155412275176e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313542602781413,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881019944789454,-1.617394382284068,1.5169352582795308,-1.4950552522373057,-1.5708160689690955,-0.017309695065189454,0.0],"actuator_force":[-0.07369379296642364,-19.86075618428231,-22.086648933275683,-2.290901468090283,-7.069860828323726e-05,0.000773674564605642,-0.2944766787762405],"issued_joint_targets_rad":[-1.5881225141121107,-1.6080027016869913,1.5320215953344722,-1.4945764986829222,-1.5708173248656954,-0.01732579803969816],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5881225141121107,-1.6080027016869913,1.5320215953344722,-1.4945764986829222,-1.5708173248656954,-0.01732579803969816],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7399999999999192,"qpos":[-1.5879648820489223,-1.6033119004960539,1.48579424508833,-1.453366915851157,-1.5708173042023896,-0.017175407961644854,0.002933986376940918,0.00015654258109867023,0.0031929737722531395,-0.003430212249351612,0.002933938892391499,0.00015611083646278163,0.0031956894388771567,-0.0034392575868982217,-0.12546279441933428,0.47731244773472764,0.29989224457978353,1.0,1.4875889917584358e-13,-1.9315454888943604e-11,-2.35340556973724e-17],"qvel":[-0.0005844317944373335,-0.0224841004576542,0.2343607430510436,-0.20724272321579598,7.65588904786785e-06,-0.0007597121063669957,0.00011192731341180217,3.3818704858877056e-05,-3.4543160820696886e-06,-0.000246184265863467,0.0001042973596940397,5.688197047313308e-07,-0.00012191403168195598,-0.0002515241678341033,3.0958783340899636e-11,2.3843466389089843e-13,7.647936342129964e-15,1.5345965609321306e-12,-1.9905359699298073e-10,-4.2414898227739596e-16],"joint_position_rad":[-1.5879648820489223,-1.6033119004960539,1.48579424508833,-1.453366915851157,-1.5708173042023896,-0.017175407961644854],"joint_velocity_rad_s":[-0.0005844317944373335,-0.0224841004576542,0.2343607430510436,-0.20724272321579598,7.65588904786785e-06,-0.0007597121063669957],"linkage_position_rad":[0.002933986376940918,0.00015654258109867023,0.0031929737722531395,-0.003430212249351612,0.002933938892391499,0.00015611083646278163,0.0031956894388771567,-0.0034392575868982217],"tcp_position_m":[-0.12581160225144147,0.4777324678172952,0.37794513735596647],"tcp_quaternion_wxyz":[-2.3115912941737173e-05,0.7071043579844422,0.7071092029259872,3.901844217060696e-05],"object_position_m":[-0.12546279441933428,0.47731244773472764,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4875889917584358e-13,-1.9315454888943604e-11,-2.35340556973724e-17],"object_linear_velocity_m_s":[3.0958783340899636e-11,2.3843466389089843e-13,7.647936342129964e-15],"object_angular_velocity_rad_s":[1.5345965609321377e-12,-1.9905359699298073e-10,-4.241489822165226e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313541990916825,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881180997789626,-1.6177360916022694,1.5216188467708816,-1.4993969584073534,-1.5708159254850078,-0.017325800548177894,0.0],"actuator_force":[-0.07266274230505587,-19.85474202936939,-22.09509385531419,-2.2907489565185415,-7.623021383551531e-05,0.0007749173701796508,-0.2944773868321501],"issued_joint_targets_rad":[-1.588138674557297,-1.6083326029326073,1.5366919149239395,-1.4989176946482334,-1.5708171805970408,-0.01734195811312007],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.588138674557297,-1.6083326029326073,1.5366919149239395,-1.4989176946482334,-1.5708171805970408,-0.01734195811312007],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.759999999999917,"qpos":[-1.5879804598738905,-1.6037935156701988,1.4906280244759424,-1.4576925811946548,-1.570817304636623,-0.017191297199501823,0.002934021998253596,0.00015654185252349928,0.0031930170987824083,-0.003430245000839482,0.0029339747019012778,0.00015611262118729043,0.0031957423294203297,-0.0034392878400668066,-0.12546279441875752,0.4773124477347321,0.29989224457978353,1.0,1.4948345844491392e-13,-1.9408010561379993e-11,-2.7445459115850717e-17],"qvel":[-0.0005899674801179043,-0.021711781573495365,0.23354036274650986,-0.2073215325810811,8.433303348858653e-06,-0.0007610802524286944,0.00011161261702804735,3.374497977099573e-05,-2.896372623635145e-06,-0.0002457144217976668,0.00010403980686982982,7.929239386077529e-07,-0.00012028428678253701,-0.00025094609297203295,3.792964137273136e-11,2.9214817813243835e-13,7.646548563349182e-15,6.085956070894254e-12,-7.899420345030088e-10,-7.743894699547946e-16],"joint_position_rad":[-1.5879804598738905,-1.6037935156701988,1.4906280244759424,-1.4576925811946548,-1.570817304636623,-0.017191297199501823],"joint_velocity_rad_s":[-0.0005899674801179043,-0.021711781573495365,0.23354036274650986,-0.2073215325810811,8.433303348858653e-06,-0.0007610802524286944],"linkage_position_rad":[0.002934021998253596,0.00015654185252349928,0.0031930170987824083,-0.003430245000839482,0.0029339747019012778,0.00015611262118729043,0.0031957423294203297,-0.0034392878400668066],"tcp_position_m":[-0.12580441806041814,0.4777194171142645,0.37624107212198965],"tcp_quaternion_wxyz":[-1.390878113526663e-05,0.7071042481360145,0.7071093134762502,2.949055548384489e-05],"object_position_m":[-0.12546279441875752,0.4773124477347321,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4948345844491392e-13,-1.9408010561379993e-11,-2.7445459115850717e-17],"object_linear_velocity_m_s":[3.792964137273136e-11,2.9214817813243835e-13,7.646548563349182e-15],"object_angular_velocity_rad_s":[6.08595607089424e-12,-7.899420345030088e-10,-7.743894698887297e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313541449698817,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881342597933643,-1.6180604399388978,1.5262845159203473,-1.5037381108924324,-1.5708157812051746,-0.017341960660887713,0.0],"actuator_force":[-0.07161284690073444,-19.84913590799988,-22.10316220979439,-2.2906115907805997,-8.161461062172748e-05,0.000776294549924117,-0.29447809712723305],"issued_joint_targets_rad":[-1.5881548917948694,-1.6086449801636693,1.541344248252214,-1.5032584320996605,-1.5708170357722588,-0.017358174890596195],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5881548917948694,-1.6086449801636693,1.541344248252214,-1.5032584320996605,-1.5708170357722588,-0.017358174890596195],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7799999999999148,"qpos":[-1.5879960923938632,-1.6042590079061292,1.49544474314748,-1.4620197005519757,-1.5708172908784714,-0.01720721757201772,0.002934051174860048,0.0001565411161703276,0.0031930539946794794,-0.0034302716463888066,0.002934004071406986,0.0001561144274038436,0.0031957889074495627,-0.0034393119639365053,-0.1254627944182064,0.47731244773473636,0.29989224457978353,1.0,1.3654982310501243e-13,-1.7727914391259445e-11,-3.104787379974512e-17],"qvel":[-0.0005955563539762728,-0.020932278485650234,0.23271528664826766,-0.20739068587701684,9.141419313468234e-06,-0.0007625775384694718,0.00011136268136358401,3.367139940734878e-05,-2.283595705355666e-06,-0.00024530829517236855,0.00010384673127960356,1.0156538504543012e-06,-0.00011860538384744876,-0.0002504324583957516,4.943348976660517e-11,3.8079800451727095e-13,7.649324120910747e-15,1.280740295329398e-11,-1.6624794083040888e-09,-1.4138408542707334e-15],"joint_position_rad":[-1.5879960923938632,-1.6042590079061292,1.49544474314748,-1.4620197005519757,-1.5708172908784714,-0.01720721757201772],"joint_velocity_rad_s":[-0.0005955563539762728,-0.020932278485650234,0.23271528664826766,-0.20739068587701684,9.141419313468234e-06,-0.0007625775384694718],"linkage_position_rad":[0.002934051174860048,0.0001565411161703276,0.0031930539946794794,-0.0034302716463888066,0.002934004071406986,0.0001561144274038436,0.0031957889074495627,-0.0034393119639365053],"tcp_position_m":[-0.12579721101736643,0.47770641922405266,0.3745369040238997],"tcp_quaternion_wxyz":[-5.538005557495893e-06,0.707104146486726,0.7071094155484288,2.081749650927527e-05],"object_position_m":[-0.1254627944182064,0.47731244773473636,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3654982310501243e-13,-1.7727914391259445e-11,-3.104787379974512e-17],"object_linear_velocity_m_s":[4.943348976660517e-11,3.8079800451727095e-13,7.649324120910747e-15],"object_angular_velocity_rad_s":[1.2807402953293926e-11,-1.6624794083040888e-09,-1.4138408541961854e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313540966486054,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588150476579729,-1.6183674315739682,1.5309323724754995,-1.508078812586245,-1.570815636322421,-0.017358177474129963,0.0],"actuator_force":[-0.07054583014132731,-19.84393594141784,-22.110856003268054,-2.2904874294329147,-8.686390629009111e-05,0.0007778027908269536,-0.2944788093765676],"issued_joint_targets_rad":[-1.5881711678871302,-1.6089398326569813,1.5459786982622974,-1.5075988132818918,-1.5708168905579383,-0.01737445043754988],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.5881711678871302,-1.6089398326569813,1.5459786982622974,-1.5075988132818918,-1.5708168905579383,-0.01737445043754988],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.7999999999999126,"qpos":[-1.5880117807075462,-1.6047082408345543,1.5002443210333543,-1.4663480990895914,-1.570817264251059,-0.017223171718350663,0.002934075072828307,0.000156540372845818,0.003193085612450318,-0.003430293294442475,0.002934028166338701,0.00015611625165964558,0.003195830308785656,-0.003439331069921319,-0.12546279441759525,0.477312447734741,0.29989224457978353,1.0,1.3954218132759506e-13,-1.8115479483950046e-11,-3.6410909289702214e-17],"qvel":[-0.0006011993377416763,-0.020146287375230262,0.2318864350392302,-0.2074515819986037,9.786107910535426e-06,-0.000764201067354047,0.00011116581669914569,3.3597939601013975e-05,-1.6274815480690574e-06,-0.0002449547390678995,0.00010370645802524678,1.2370638029762884e-06,-0.00011688852333791064,-0.00024997208184506826,2.220870494521162e-11,1.7107234658990838e-13,7.652099678472311e-15,-5.119253591370997e-12,6.64637469088087e-10,-1.53178098963529e-16],"joint_position_rad":[-1.5880117807075462,-1.6047082408345543,1.5002443210333543,-1.4663480990895914,-1.570817264251059,-0.017223171718350663],"joint_velocity_rad_s":[-0.0006011993377416763,-0.020146287375230262,0.2318864350392302,-0.2074515819986037,9.786107910535426e-06,-0.000764201067354047],"linkage_position_rad":[0.002934075072828307,0.000156540372845818,0.003193085612450318,-0.003430293294442475,0.002934028166338701,0.00015611625165964558,0.003195830308785656,-0.003439331069921319],"tcp_position_m":[-0.12578998022396543,0.47769347631354014,0.37283263211090634],"tcp_quaternion_wxyz":[2.077227708815134e-06,0.7071040525224774,0.7071095097190634,1.2916650535705223e-05],"object_position_m":[-0.12546279441759525,0.477312447734741,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3954218132759506e-13,-1.8115479483950046e-11,-3.6410909289702214e-17],"object_linear_velocity_m_s":[2.220870494521162e-11,1.7107234658990838e-13,7.652099678472311e-15],"object_angular_velocity_rad_s":[-5.119253591370943e-12,6.64637469088087e-10,-1.5317809894907135e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313540530942269,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881667521920082,-1.6186570685682038,1.535562519522888,-1.5124191649377943,-1.570815491007712,-0.017374453053674757,0.0],"actuator_force":[-0.06946323382726405,-19.839140517206943,-22.11817703662473,-2.290374724241019,-9.198911754992878e-05,0.0007794390733586454,-0.29447952333197236],"issued_joint_targets_rad":[-1.588187504906118,-1.609217157759868,1.550595364355486,-1.5119389389875677,-1.570816745101413,-0.017390786828922974],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.588187504906118,-1.609217157759868,1.550595364355486,-1.5119389389875677,-1.570816745101413,-0.017390786828922974],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8199999999999104,"qpos":[-1.5880275259296401,-1.605141091122735,1.5050266952546156,-1.4706776283964356,-1.5708172259644537,-0.01723916222354729,0.0029340946476300337,0.00015653962331892653,0.0031931128959217666,-0.0034303108533586153,0.0029340479415966617,0.0001561180909248182,0.00319586746237446,-0.0034393460690175393,-0.1254627944169637,0.4773124477347459,0.29989224457978353,1.0,1.4875005289612762e-13,-1.9307587046295508e-11,-4.3274066024242855e-17],"qvel":[-0.0006068977380231776,-0.01935442767435537,0.23105462396271897,-0.20750547911512338,1.0372762953805966e-05,-0.000765948263254694,0.00011101244251558247,3.352457696356452e-05,-9.374321064643463e-07,-0.0002446446126064865,0.00010360942073555069,1.4572051037628844e-06,-0.00011514282691136485,-0.00024955578888739014,2.4378043790617584e-11,1.8780994138767762e-13,7.646548563349184e-15,-4.09661704328609e-12,5.318677288147904e-10,-2.796648630940597e-16],"joint_position_rad":[-1.5880275259296401,-1.605141091122735,1.5050266952546156,-1.4706776283964356,-1.5708172259644537,-0.01723916222354729],"joint_velocity_rad_s":[-0.0006068977380231776,-0.01935442767435537,0.23105462396271897,-0.20750547911512338,1.0372762953805966e-05,-0.000765948263254694],"linkage_position_rad":[0.0029340946476300337,0.00015653962331892653,0.0031931128959217666,-0.0034303108533586153,0.0029340479415966617,0.0001561180909248182,0.00319586746237446,-0.0034393460690175393],"tcp_position_m":[-0.1257827248017307,0.47768059063049784,0.37112825556081774],"tcp_quaternion_wxyz":[9.009950647465637e-06,0.7071039657477584,0.7071095965336421,5.713366188551615e-06],"object_position_m":[-0.1254627944169637,0.4773124477347459,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4875005289612762e-13,-1.9307587046295508e-11,-4.3274066024242855e-17],"object_linear_velocity_m_s":[2.4378043790617584e-11,1.8780994138767762e-13,7.646548563349184e-15],"object_angular_velocity_rad_s":[-4.096617043286034e-12,5.318677288147904e-10,-2.796648630549344e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313540134617418,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881830886949675,-1.6189293507916518,1.5401750565866237,-1.5167592680218154,-1.5708153454123848,-0.017390789474777166,0.0],"actuator_force":[-0.0683664354451139,-19.83474826809106,-22.12512692107157,-2.2902719011776753,-9.700026089376479e-05,0.0007812007105307828,-0.2944802387775904],"issued_joint_targets_rad":[-1.58820390494815,-1.6094769508806381,1.5551943424700143,-1.5162789086291972,-1.5708165995327394,-0.017407186163685497],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.58820390494815,-1.6094769508806381,1.5551943424700143,-1.5162789086291972,-1.5708165995327394,-0.017407186163685497],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8399999999999082,"qpos":[-1.5880433291989011,-1.6055574470186988,1.5097918181499619,-1.47500816381958,-1.5708171771248558,-0.017255191625963805,0.0029341106821606914,0.00015653886831586678,0.003193136617987735,-0.0034303250675175915,0.0029340641795645847,0.00015611994254028147,0.003195901127849017,-0.003439357707953742,-0.12546279441634575,0.4773124477347507,0.29989224457978353,1.0,1.5442151207799183e-13,-2.0038293056264007e-11,-5.095537913224989e-17],"qvel":[-0.0006126532393439844,-0.01855724948383487,0.23022057553438202,-0.20755350848521892,1.0906337801059584e-05,-0.0007678169074631525,0.00011089470692398148,3.3451288667020946e-05,-2.2113337811417575e-07,-0.0002443704176744653,0.00010354778109865122,1.6761265459614078e-06,-0.00011337571368901821,-0.00024917605215922257,2.7042450416654458e-11,2.0839506394896538e-13,7.645160784568402e-15,-2.2631947068226084e-12,2.940365292326213e-10,-5.105974040347962e-16],"joint_position_rad":[-1.5880433291989011,-1.6055574470186988,1.5097918181499619,-1.47500816381958,-1.5708171771248558,-0.017255191625963805],"joint_velocity_rad_s":[-0.0006126532393439844,-0.01855724948383487,0.23022057553438202,-0.20755350848521892,1.0906337801059584e-05,-0.0007678169074631525],"linkage_position_rad":[0.0029341106821606914,0.00015653886831586678,0.003193136617987735,-0.0034303250675175915,0.0029340641795645847,0.00015611994254028147,0.003195901127849017,-0.003439357707953742],"tcp_position_m":[-0.12577544388552936,0.47766776452060555,0.36942377366605506],"tcp_quaternion_wxyz":[1.532616313539307e-05,0.7071038856870641,0.7071096765075585,-8.598128835589928e-07],"object_position_m":[-0.12546279441634575,0.4773124477347507,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5442151207799183e-13,-2.0038293056264007e-11,-5.095537913224989e-17],"object_linear_velocity_m_s":[2.7042450416654458e-11,2.0839506394896538e-13,7.645160784568402e-15],"object_angular_velocity_rad_s":[-2.263194706822558e-12,2.940365292326213e-10,-5.105974039247828e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353977060475,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5881994881786161,-1.6191842759420858,1.5447700797105526,-1.521099220603151,-1.5708151996701558,-0.017407188836690134,0.0],"actuator_force":[-0.06725666369220562,-19.83075805324006,-22.13170709257156,-2.290177543263667,-0.0001019064301317485,0.0007830853831496398,-0.294480955526377],"issued_joint_targets_rad":[-1.5882203701485287,-1.6097192054712792,1.559775725144157,-1.520618820304956,-1.5708164539664673,-0.017423650579518876],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.5882203701485287,-1.6097192054712792,1.559775725144157,-1.520618820304956,-1.5708164539664673,-0.017423650579518876],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.859999999999906,"qpos":[-1.5880591916860816,-1.6059572070354615,1.5145396554973425,-1.479339602061497,-1.5708171187430726,-0.01727126242538242,0.0029341238178972203,0.0001565381085164756,0.0031931574115304402,-0.003430336546923263,0.002934077521261313,0.00015612180417319028,0.003195931926288618,-0.003439366598814119,-0.1254627944157462,0.47731244773475523,0.29989224457978353,1.0,1.5518816824954379e-13,-2.0133811015780883e-11,-5.930328113954257e-17],"qvel":[-0.0006184679026363819,-0.017755240232983985,0.22938492719799886,-0.2075966869204668,1.1391379475937976e-05,-0.0007698051715656485,0.00011080617474369096,3.337805253570317e-05,5.151347053050561e-07,-0.00024412600354210533,0.0001035151170161616,1.8938747518234873e-06,-0.00011159320832256975,-0.0002488266930110132,3.085535243927079e-11,2.378308412875825e-13,7.645160784568402e-15,6.646505212455174e-13,-8.592385084368916e-11,-9.322200421270439e-16],"joint_position_rad":[-1.5880591916860816,-1.6059572070354615,1.5145396554973425,-1.479339602061497,-1.5708171187430726,-0.01727126242538242],"joint_velocity_rad_s":[-0.0006184679026363819,-0.017755240232983985,0.22938492719799886,-0.2075966869204668,1.1391379475937976e-05,-0.0007698051715656485],"linkage_position_rad":[0.0029341238178972203,0.0001565381085164756,0.0031931574115304402,-0.003430336546923263,0.002934077521261313,0.00015612180417319028,0.003195931926288618,-0.003439366598814119],"tcp_position_m":[-0.12576813661732672,0.47765500044494047,0.36771918582102725],"tcp_quaternion_wxyz":[2.1085510532317663e-05,0.7071038118857975,0.7071097501271373,-6.863842204695811e-06],"object_position_m":[-0.1254627944157462,0.47731244773475523,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5518816824954379e-13,-2.0133811015780883e-11,-5.930328113954257e-17],"object_linear_velocity_m_s":[3.085535243927079e-11,2.378308412875825e-13,7.645160784568402e-15],"object_angular_velocity_rad_s":[6.646505212455447e-13,-8.592385084368916e-11,-9.322200420318779e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313539433260015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588215952772811,-1.6194218395529996,1.5493476815245013,-1.5254391201957345,-1.5708150538989196,-0.017423653277350622,0.0],"actuator_force":[-0.06613501240462938,-19.827168941882064,-22.137918824882036,-2.290090375071941,-0.00010671587108390668,0.0007850911724638365,-0.29448167341672593],"issued_joint_targets_rad":[-1.5882369026966143,-1.6099439130017594,1.5643396015640387,-1.5249587708590824,-1.5708163085032336,-0.017440182267862786],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.5882369026966143,-1.6099439130017594,1.5643396015640387,-1.5249587708590824,-1.5708163085032336,-0.017440182267862786],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8799999999999037,"qpos":[-1.5880751146018688,-1.6063402787608436,1.5192701849101136,-1.4836718590133353,-1.5708170517423234,-0.017287377091790658,0.0029341345804316365,0.00015653734455263552,0.0031931757947556787,-0.0034303457914497946,0.002934088491868849,0.00015612367377737586,0.0031959603654081762,-0.0034393732433115713,-0.12546279441517205,0.4773124477347596,0.29989224457978353,1.0,1.4887188485557215e-13,-1.9312270833122588e-11,-6.789997500590434e-17],"qvel":[-0.0006243441692399855,-0.016948830652339264,0.22854824002710983,-0.2076359280301855,1.1832060255907724e-05,-0.0007719116491059933,0.00011074157178633021,3.3304846873042435e-05,1.266244294701651e-06,-0.00024390632335965132,0.00010350616697126526,2.1104944426505225e-06,-0.00010980019313328474,-0.0002485026401212249,3.6899297204838947e-11,2.8446356249373497e-13,7.645160784568404e-15,5.098154678820588e-12,-6.611018930195709e-10,-1.7019926619873832e-15],"joint_position_rad":[-1.5880751146018688,-1.6063402787608436,1.5192701849101136,-1.4836718590133353,-1.5708170517423234,-0.017287377091790658],"joint_velocity_rad_s":[-0.0006243441692399855,-0.016948830652339264,0.22854824002710983,-0.2076359280301855,1.1832060255907724e-05,-0.0007719116491059933],"linkage_position_rad":[0.0029341345804316365,0.00015653734455263552,0.0031931757947556787,-0.0034303457914497946,0.002934088491868849,0.00015612367377737586,0.0031959603654081762,-0.0034393732433115713],"tcp_position_m":[-0.1257608021400919,0.47764230099817206,0.36601449151073584],"tcp_quaternion_wxyz":[2.6341895982491245e-05,0.7071037439107601,0.7071098178507165,-1.2353803692616457e-05],"object_position_m":[-0.12546279441517205,0.4773124477347596,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4887188485557215e-13,-1.9312270833122588e-11,-6.789997500590434e-17],"object_linear_velocity_m_s":[3.6899297204838947e-11,2.8446356249373497e-13,7.645160784568404e-15],"object_angular_velocity_rad_s":[5.098154678820564e-12,-6.611018930195709e-10,-1.701992661912465e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313539117971542,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588232484662238,-1.61964203499084,1.5539079512948848,-1.529779063116828,-1.5708149082023686,-0.01744018498842911,0.0],"actuator_force":[-0.06500245304232521,-19.823980199057132,-22.143763241301713,-2.290009248727756,-0.00011143604820063047,0.0007872165913749285,-0.2944823923088123],"issued_joint_targets_rad":[-1.5882535048514794,-1.6101510629251192,1.5688860575960824,-1.5292988559374614,-1.5708161632311917,-0.01745678348955539],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.5882535048514794,-1.6101510629251192,1.5688860575960824,-1.5292988559374614,-1.5708161632311917,-0.01745678348955539],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.8999999999999015,"qpos":[-1.588091099204936,-1.6067065777797918,1.5239833943896277,-1.4880048678011188,-1.570816976965436,-0.01730353807481559,0.002934143400395848,0.00015653657700797854,0.0031931921919467667,-0.0034303532107287965,0.0029340975216522627,0.00015612554955974416,0.003195986860180409,-0.0034393780526928365,-0.12546279441463473,0.4773124477347638,0.29989224457978353,1.0,1.3229789331321127e-13,-1.716179909388466e-11,-7.581754571558342e-17],"qvel":[-0.0006302848705911237,-0.016138400122211596,0.2277110061631473,-0.20767205236704764,1.2232207004953325e-05,-0.0007741353869369012,0.00011069657539525065,3.323165045716937e-05,2.0280120067416384e-06,-0.00024370723503607742,0.0001035166206496144,2.326028865481241e-06,-0.0001080006149841818,-0.000248199728177362,4.698765544196532e-11,3.621833671122426e-13,7.654875236033876e-15,1.1603826110727207e-11,-1.5056401479900357e-09,-3.1074131775091338e-15],"joint_position_rad":[-1.588091099204936,-1.6067065777797918,1.5239833943896277,-1.4880048678011188,-1.570816976965436,-0.01730353807481559],"joint_velocity_rad_s":[-0.0006302848705911237,-0.016138400122211596,0.2277110061631473,-0.20767205236704764,1.2232207004953325e-05,-0.0007741353869369012],"linkage_position_rad":[0.002934143400395848,0.00015653657700797854,0.0031931921919467667,-0.0034303532107287965,0.0029340975216522627,0.00015612554955974416,0.003195986860180409,-0.0034393780526928365],"tcp_position_m":[-0.125753439591788,0.4776296689276938,0.36430969030048194],"tcp_quaternion_wxyz":[3.114403373486389e-05,0.7071036813502973,0.7071098801097746,-1.737947237559987e-05],"object_position_m":[-0.12546279441463473,0.4773124477347638,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3229789331321127e-13,-1.716179909388466e-11,-7.581754571558342e-17],"object_linear_velocity_m_s":[4.698765544196532e-11,3.621833671122426e-13,7.654875236033876e-15],"object_angular_velocity_rad_s":[1.1603826110727086e-11,-1.5056401479900357e-09,-3.1074131776101084e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353882097211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588249086101985,-1.6198448534409071,1.558450974959642,-1.5341191445370435,-1.570814762671446,-0.01745678623097222,0.0],"actuator_force":[-0.06385984586131599,-19.821191273345903,-22.149241325229923,-2.2899331312576123,-0.00011607370538513351,0.000789460615376214,-0.2944831120826299],"issued_joint_targets_rad":[-1.5882701789583922,-1.6103406426323543,1.5734151758038046,-1.5336391700389829,-1.5708160182272886,-0.017473456591296052],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.5882701789583922,-1.6103406426323543,1.5734151758038046,-1.5336391700389829,-1.5708160182272886,-0.017473456591296052],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9199999999998993,"qpos":[-1.5881071468102244,-1.6070560266972866,1.528679281017833,-1.4923385770240647,-1.5708168951814652,-0.017319747813828078,0.0029341506306092453,0.00015653580641864287,0.003193206950467991,-0.0034303591404333837,0.002934104963102742,0.00015612742995028703,0.0031960117497192306,-0.0034393813640525685,-0.12546279441405192,0.4773124477347683,0.29989224457978353,1.0,1.326000198764741e-13,-1.7202275575704905e-11,-8.760470438441542e-17],"qvel":[-0.0006362932439507433,-0.015324281453104086,0.22687365547112226,-0.20770579658150543,1.2595328317116302e-05,-0.0007764759173409315,0.00011066764264585888,3.3158442396977934e-05,2.797028246362621e-06,-0.00024352533674892003,0.00010354294721274858,2.540520003829114e-06,-0.00010619765403869138,-0.000247914535538959,2.1164554918210785e-11,1.631431416973049e-13,7.652099678472312e-15,-4.953492610310889e-12,6.425549808184801e-10,-3.36662827223788e-16],"joint_position_rad":[-1.5881071468102244,-1.6070560266972866,1.528679281017833,-1.4923385770240647,-1.5708168951814652,-0.017319747813828078],"joint_velocity_rad_s":[-0.0006362932439507433,-0.015324281453104086,0.22687365547112226,-0.20770579658150543,1.2595328317116302e-05,-0.0007764759173409315],"linkage_position_rad":[0.0029341506306092453,0.00015653580641864287,0.003193206950467991,-0.0034303591404333837,0.002934104963102742,0.00015612742995028703,0.0031960117497192306,-0.0034393813640525685],"tcp_position_m":[-0.12574604809937692,0.47761710715396566,0.3626047818265603],"tcp_quaternion_wxyz":[3.5535949158928216e-05,0.7071036238141734,0.7071099373100925,-2.19858284500879e-05],"object_position_m":[-0.12546279441405192,0.4773124477347683,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.326000198764741e-13,-1.7202275575704905e-11,-8.760470438441542e-17],"object_linear_velocity_m_s":[2.1164554918210785e-11,1.631431416973049e-13,7.652099678472312e-15],"object_angular_velocity_rad_s":[-4.9534926103107656e-12,6.425549808184801e-10,-3.3666282724087144e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313538539184933,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5882657594339495,-1.6200302838811453,1.5629768351472424,-1.5384594585266742,-1.5708146173856454,-0.017473459351867573,0.0],"actuator_force":[-0.06270794987040063,-19.818801786475888,-22.154353929629906,-2.2898610931541725,-0.00012063492181368929,0.0007918227143441925,-0.2944838326348924],"issued_joint_targets_rad":[-1.588286927466393,-1.6105126373958225,1.5779270354483295,-1.5379798065631876,-1.570815873558417,-0.017490204023212066],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.588286927466393,-1.6105126373958225,1.5779270354483295,-1.5379798065631876,-1.570815873558417,-0.017490204023212066],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9399999999998971,"qpos":[-1.5881232587975853,-1.6073885542509698,1.5333578497749791,-1.4966729491662503,-1.570816807091787,-0.01733600874875736,0.002934156560130674,0.0001565350332742808,0.0031932203546921963,-0.0034303638556331725,0.002934111104985525,0.0001561293135760851,0.0031960353111030334,-0.0034393834536934585,-0.1254627944134566,0.4773124477347728,0.29989224457978353,1.0,1.3989795040574698e-13,-1.8148822775336485e-11,-1.0268889667287346e-16],"qvel":[-0.0006423729545969613,-0.014506765147276779,0.22603656148457713,-0.20773782168242183,1.2924639640725704e-05,-0.0007789332921390972,0.00011065186957479937,3.308520201885652e-05,3.5705175631970125e-06,-0.0002433578345027549,0.00010358225460693146,2.7540088812722107e-06,-0.00010439386149028697,-0.0002476442492360499,2.295311895905414e-11,1.7693055110268353e-13,7.643773005787623e-15,-3.909840458337072e-12,5.072251187018253e-10,-6.146612126139665e-16],"joint_position_rad":[-1.5881232587975853,-1.6073885542509698,1.5333578497749791,-1.4966729491662503,-1.570816807091787,-0.01733600874875736],"joint_velocity_rad_s":[-0.0006423729545969613,-0.014506765147276779,0.22603656148457713,-0.20773782168242183,1.2924639640725704e-05,-0.0007789332921390972],"linkage_position_rad":[0.002934156560130674,0.0001565350332742808,0.0031932203546921963,-0.0034303638556331725,0.002934111104985525,0.0001561293135760851,0.0031960353111030334,-0.0034393834536934585],"tcp_position_m":[-0.12573862677276182,0.47760461879236754,0.36089976578783967],"tcp_quaternion_wxyz":[3.9557430602072764e-05,0.7071035709332211,0.707109989832945,-2.6213519949460126e-05],"object_position_m":[-0.1254627944134566,0.4773124477347728,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3989795040574698e-13,-1.8148822775336485e-11,-1.0268889667287346e-16],"object_linear_velocity_m_s":[2.295311895905414e-11,1.7693055110268353e-13,7.643773005787623e-15],"object_angular_velocity_rad_s":[-3.909840458336945e-12,5.072251187018253e-10,-6.146612126124607e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313538270097578,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5882825071043511,-1.6201983130427682,1.567485611179162,-1.5428000980988,-1.570814472414183,-0.01749020680141249,0.0],"actuator_force":[-0.061547431692815735,-19.816811524686273,-22.159101785465282,-2.289792298032694,-0.00012512516207152657,0.0007943028863444113,-0.2944845538767186],"issued_joint_targets_rad":[-1.5883037529472903,-1.6106670302996269,1.5824217124716493,-1.5423208578546748,-1.5708157292824387,-0.01750702835783215],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5883037529472903,-1.6106670302996269,1.5824217124716493,-1.5423208578546748,-1.5708157292824387,-0.01750702835783215],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.959999999999895,"qpos":[-1.5881394368468527,-1.6077040938809894,1.5380190879540299,-1.5010079592336936,-1.570816713346445,-0.017352323331525414,0.0029341614158485173,0.00015653421109119463,0.003193232788092774,-0.0034303673752078207,0.0029341161832436933,0.00015613119630914526,0.003196058067886875,-0.0034393843427703488,-0.12546279441284067,0.47731244773477766,0.29989224457978353,1.0,1.5238909434055294e-13,-1.9768216957319857e-11,-1.2180919894076434e-16],"qvel":[-0.0006485113458899432,-0.01368625009929982,0.22520009473344665,-0.2077687667857419,1.3220021421979324e-05,-0.0007815081003499195,0.00011064036624630093,3.301320132367383e-05,4.329621937737874e-06,-0.00024318859013127995,0.0001036251993996742,2.961245328429992e-06,-0.00010263264960030931,-0.00024737949332284215,2.6124576906484894e-11,2.0139018458598409e-13,7.646548563349188e-15,-2.4718508029798187e-12,3.207118794940185e-10,-1.1222114461422784e-15],"joint_position_rad":[-1.5881394368468527,-1.6077040938809894,1.5380190879540299,-1.5010079592336936,-1.570816713346445,-0.017352323331525414],"joint_velocity_rad_s":[-0.0006485113458899432,-0.01368625009929982,0.22520009473344665,-0.2077687667857419,1.3220021421979324e-05,-0.0007815081003499195],"linkage_position_rad":[0.0029341614158485173,0.00015653421109119463,0.003193232788092774,-0.0034303673752078207,0.0029341161832436933,0.00015613119630914526,0.003196058067886875,-0.0034393843427703488],"tcp_position_m":[-0.12573117448835605,0.47759221294620824,0.3591946536864388],"tcp_quaternion_wxyz":[4.3236118225383385e-05,0.7071035224392718,0.7071100379567267,-3.0090659800521397e-05],"object_position_m":[-0.12546279441284067,0.47731244773477766,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5238909434055294e-13,-1.9768216957319857e-11,-1.2180919894076434e-16],"object_linear_velocity_m_s":[2.6124576906484894e-11,2.0139018458598409e-13,7.646548563349188e-15],"object_angular_velocity_rad_s":[-2.4718508029796963e-12,3.207118794940185e-10,-1.1222114461244586e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313538006661297,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5882993316880551,-1.6203489253547105,1.5719773790506506,-1.5471411553356402,-1.5708143278170565,-0.017507031152251027,0.0],"actuator_force":[-0.060385144048723305,-19.815162907722424,-22.163455700137092,-2.2897213723990717,-0.00012923744782256108,0.0007968996721867683,-0.29448520778284043],"issued_joint_targets_rad":[-1.588320658239263,-1.610803792263433,1.586899240049134,-1.546662385846435,-1.5708155854362413,-0.01752393243314719],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.588320658239263,-1.610803792263433,1.586899240049134,-1.546662385846435,-1.5708155854362413,-0.01752393243314719],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9799999999998927,"qpos":[-1.588155682752025,-1.6080025828738687,1.542662957711101,-1.5053435911487234,-1.5708166145409506,-0.01736869404976723,0.002934165351332725,0.0001565332784666303,0.0031932446071497944,-0.0034303695801665927,0.00293412036195263,0.00015613306747539276,0.0031960805473741673,-0.003439383908898501,-0.12546279441223068,0.4773124477347823,0.29989224457978353,1.0,1.5797779167805407e-13,-2.049427959746008e-11,-1.4277634816486244e-16],"qvel":[-0.0006546915675835034,-0.01286309182539459,0.22436451685120862,-0.2077990851899426,1.3480862282828239e-05,-0.00078420208994584,0.00011062327064068573,3.294476412324387e-05,5.051407821556634e-06,-0.0002430035491729598,0.00010366135528585096,3.1567358048834597e-06,-0.00010096641456883774,-0.0002471141814669615,3.022240739169111e-11,2.329653161094039e-13,7.645160784568408e-15,4.874811467609241e-14,-6.4770108549595695e-12,-2.048876589730498e-15],"joint_position_rad":[-1.588155682752025,-1.6080025828738687,1.542662957711101,-1.5053435911487234,-1.5708166145409506,-0.01736869404976723],"joint_velocity_rad_s":[-0.0006546915675835034,-0.01286309182539459,0.22436451685120862,-0.2077990851899426,1.3480862282828239e-05,-0.00078420208994584],"linkage_position_rad":[0.002934165351332725,0.0001565332784666303,0.0031932446071497944,-0.0034303695801665927,0.00293412036195263,0.00015613306747539276,0.0031960805473741673,-0.003439383908898501],"tcp_position_m":[-0.1257236899582104,0.4775799058333731,0.3574894717281262],"tcp_quaternion_wxyz":[4.6586466013785176e-05,0.7071034780916505,0.7071100819315874,-3.3631751431000394e-05],"object_position_m":[-0.12546279441223068,0.4773124477347823,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5797779167805407e-13,-2.049427959746008e-11,-1.4277634816486244e-16],"object_linear_velocity_m_s":[3.022240739169111e-11,2.329653161094039e-13,7.645160784568408e-15],"object_angular_velocity_rad_s":[4.874811467617454e-14,-6.477010854959569e-12,-2.0488765897788307e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313537741022554,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5883162360293483,-1.6204820929985115,1.5764521719787716,-1.5514826920391493,-1.5708141836331084,-0.017523935242431704,0.0],"actuator_force":[-0.059229927613614564,-19.81378351912781,-22.16737820514254,-2.2896419262186782,-0.00013263230732718512,0.000799612662346405,-0.29448570879390046],"issued_joint_targets_rad":[-1.588337646308562,-1.6109228813289995,1.5913596005717927,-1.551004414765699,-1.5708154420349103,-0.01754091921465877],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.588337646308562,-1.6109228813289995,1.5913596005717927,-1.551004414765699,-1.5708154420349103,-0.01754091921465877],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":1.9999999999998905,"qpos":[-1.5881719976017863,-1.608283963074551,1.547289478022857,-1.509679833178927,-1.570816511179777,-0.017385123436841825,0.002934168489230658,0.00015653233461675122,0.0031932555918274537,-0.0034303709955524108,0.0029341237421062,0.00015613492573793623,0.003196102197622732,-0.0034393826676934643,-0.12546279441163655,0.47731244773478687,0.29989224457978353,1.0,1.553011113409935e-13,-2.0148020589385525e-11,-1.6473721037589387e-16],"qvel":[-0.0006609544093454584,-0.012037064736672055,0.2235298062259332,-0.20782885728641093,1.3717054507880734e-05,-0.000787017493420244,0.00011061374038612645,3.2877956681542095e-05,5.769946219736438e-06,-0.0002428380984219479,0.00010370492000469888,3.3534097001447837e-06,-9.93052285746458e-05,-0.0002468683857701624,3.609758726911315e-11,2.782324241652589e-13,7.642385227006846e-15,4.09311279335914e-12,-5.310898646677712e-10,-3.740728667963156e-15],"joint_position_rad":[-1.5881719976017863,-1.608283963074551,1.547289478022857,-1.509679833178927,-1.570816511179777,-0.017385123436841825],"joint_velocity_rad_s":[-0.0006609544093454584,-0.012037064736672055,0.2235298062259332,-0.20782885728641093,1.3717054507880734e-05,-0.000787017493420244],"linkage_position_rad":[0.002934168489230658,0.00015653233461675122,0.0031932555918274537,-0.0034303709955524108,0.0029341237421062,0.00015613492573793623,0.003196102197622732,-0.0034393826676934643],"tcp_position_m":[-0.1257161724787841,0.4775677006196743,0.35578422045430413],"tcp_quaternion_wxyz":[4.9639538554311177e-05,0.7071034373821752,0.7071101222715861,-3.686856376584995e-05],"object_position_m":[-0.12546279441163655,0.47731244773478687,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.553011113409935e-13,-2.0148020589385525e-11,-1.6473721037589387e-16],"object_linear_velocity_m_s":[3.609758726911315e-11,2.782324241652589e-13,7.642385227006846e-15],"object_angular_velocity_rad_s":[4.0931127933591155e-12,-5.310898646677712e-10,-3.740728667984607e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353748295783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5883332230838136,-1.620597775230332,1.580909972404327,-1.5558247321277539,-1.5708140398791415,-0.017540922037593158,0.0],"actuator_force":[-0.05806920031682239,-19.8127984168932,-22.170933727433294,-2.289563745772398,-0.00013605513311176765,0.0008024489663576162,-0.294486204868797],"issued_joint_targets_rad":[-1.5883547198293653,-1.6110242770130077,1.5958028614213877,-1.555347032116431,-1.5708152991182542,-0.017557991377083828],"issued_gripper_0_255":0.0,"command":{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.5883547198293653,-1.6110242770130077,1.5958028614213877,-1.555347032116431,-1.5708152991182542,-0.017557991377083828],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0199999999998886,"qpos":[-1.5881883831216046,-1.608548178061849,1.5518986720278438,-1.514016682043044,-1.5708164037380505,-0.017401614040769734,0.0029341709729288077,0.00015653138975226736,0.003193265855993917,-0.003430371816163649,0.002934126468164798,0.00015613678351484726,0.0031961231341954034,-0.0034393808255490724,-0.1254627944110723,0.4773124477347912,0.29989224457978353,1.0,1.420300642274795e-13,-1.8427045253824434e-11,-1.8572857134187207e-16],"qvel":[-0.0006673091871662228,-0.011208333022635627,0.2226961942255672,-0.20785853748635558,1.3929898638795855e-05,-0.0007899549426541344,0.00011061085938814885,3.281102881279036e-05,6.487133525042472e-06,-0.00024268048123504314,0.00010375504272356436,3.5493512694312922e-06,-9.764794359388274e-05,-0.0002466312302245256,4.5461498328003094e-11,3.5037511654117207e-13,7.647936342129973e-15,1.0179420413767596e-11,-1.3210459829905276e-09,-6.829630436480317e-15],"joint_position_rad":[-1.5881883831216046,-1.608548178061849,1.5518986720278438,-1.514016682043044,-1.5708164037380505,-0.017401614040769734],"joint_velocity_rad_s":[-0.0006673091871662228,-0.011208333022635627,0.2226961942255672,-0.20785853748635558,1.3929898638795855e-05,-0.0007899549426541344],"linkage_position_rad":[0.0029341709729288077,0.00015653138975226736,0.003193265855993917,-0.003430371816163649,0.002934126468164798,0.00015613678351484726,0.0031961231341954034,-0.0034393808255490724],"tcp_position_m":[-0.1257086210413654,0.47755560103357203,0.35407889965153116],"tcp_quaternion_wxyz":[5.242429574648307e-05,0.7071034000218048,0.7071101592699758,-3.983071165568164e-05],"object_position_m":[-0.1254627944110723,0.4773124477347912,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.420300642274795e-13,-1.8427045253824434e-11,-1.8572857134187207e-16],"object_linear_velocity_m_s":[4.5461498328003094e-11,3.5037511654117207e-13,7.647936342129973e-15],"object_angular_velocity_rad_s":[1.0179420413767357e-11,-1.3210459829905276e-09,-6.8296304365835275e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313537232058558,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5883502955231963,-1.620695952713889,1.5853508477641562,-1.5601673628250374,-1.5708138965965364,-0.017557994212576353,0.0],"actuator_force":[-0.056901128316894756,-19.812216095026088,-22.174126217601952,-2.289486642361112,-0.0001394191068584405,0.0008054083621029662,-0.2944867015652389],"issued_joint_targets_rad":[-1.5883718820633617,-1.611107956106617,1.600229088300252,-1.5596903264862634,-1.570815156722169,-0.017575152181279776],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5883718820633617,-1.611107956106617,1.600229088300252,-1.5596903264862634,-1.570815156722169,-0.017575152181279776],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0399999999998863,"qpos":[-1.5882048411812677,-1.6087951745763036,1.556490566992223,-1.5183541432215106,-1.5708162926519742,-0.01741816847513781,0.002934172922281776,0.00015653044404650586,0.003193275513256405,-0.0034303721546755923,0.0029341286599880263,0.00015613864024423185,0.0031961434669738912,-0.0034393784973692563,-0.12546279441049155,0.4773124477347957,0.29989224457978353,1.0,1.350792860737197e-13,-1.7526494321496468e-11,-2.1163498411686318e-16],"qvel":[-0.0006737622995729898,-0.010377050060301428,0.22186387467806473,-0.20788854518328928,1.4121366808919562e-05,-0.0007930177066262695,0.00011061347012341099,3.274395472532797e-05,7.202367063681105e-06,-0.00024252953254807013,0.00010381054276914367,3.744516561147168e-06,-9.599509845559912e-05,-0.00024640122594542376,2.1484295419174536e-11,1.6558467980148208e-13,7.646548563349192e-15,-5.294299880290406e-12,6.868737090912689e-10,-7.399343420271849e-16],"joint_position_rad":[-1.5882048411812677,-1.6087951745763036,1.556490566992223,-1.5183541432215106,-1.5708162926519742,-0.01741816847513781],"joint_velocity_rad_s":[-0.0006737622995729898,-0.010377050060301428,0.22186387467806473,-0.20788854518328928,1.4121366808919562e-05,-0.0007930177066262695],"linkage_position_rad":[0.002934172922281776,0.00015653044404650586,0.003193275513256405,-0.0034303721546755923,0.0029341286599880263,0.00015613864024423185,0.0031961434669738912,-0.0034393784973692563],"tcp_position_m":[-0.1257010345732244,0.47754361110125,0.35237350907664133],"tcp_quaternion_wxyz":[5.4966973801058584e-05,0.7071033657487497,0.7071101931915152,-4.254502148651002e-05],"object_position_m":[-0.12546279441049155,0.4773124477347957,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.350792860737197e-13,-1.7526494321496468e-11,-2.1163498411686318e-16],"object_linear_velocity_m_s":[2.1484295419174536e-11,1.6558467980148208e-13,7.646548563349192e-15],"object_angular_velocity_rad_s":[-5.294299880290089e-12,6.868737090912689e-10,-7.399343420433979e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536987353163,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5883674566079902,-1.6207766033141742,1.5897748638170577,-1.5645106724663536,-1.570813753822636,-0.017575155028350494,0.0],"actuator_force":[-0.05572593361557665,-19.812037451620654,-22.176956221557248,-2.2894101040925534,-0.00014272201178755495,0.0008084940562831378,-0.2944871991779529],"issued_joint_targets_rad":[-1.5883891365428089,-1.6111738928346702,1.6046383435557452,-1.5640343857225654,-1.5708150148769549,-0.01759240515813364],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5883891365428089,-1.6111738928346702,1.6046383435557452,-1.5640343857225654,-1.5708150148769549,-0.01759240515813364],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.059999999999884,"qpos":[-1.588221373781961,-1.6090249020714704,1.561065193571754,-1.522692230091544,-1.5708161783184738,-0.01743478944020688,0.0029341744357744407,0.0001565294977976143,0.0031932846598479473,-0.0034303721049287893,0.0029341304158958664,0.00015614049529136104,0.003196163288546913,-0.003439375777422429,-0.1254627944098706,0.4773124477348004,0.29989224457978353,1.0,1.43353421087111e-13,-1.8601920474569165e-11,-2.4898972862865444e-16],"qvel":[-0.0006803206588346848,-0.009543343524447882,0.22103300687285488,-0.2079192564706841,1.4293304811362432e-05,-0.0007962099808270863,0.00011062058058725347,3.26767165402451e-05,7.91480632055139e-06,-0.00024238429247886096,0.00010387043937287491,3.938941975718452e-06,-9.434734467011393e-05,-0.00024617741745335756,2.3291168434633067e-11,1.7949516335418167e-13,7.647936342129972e-15,-4.374904800332833e-12,5.676452434386161e-10,-1.350930551070077e-15],"joint_position_rad":[-1.588221373781961,-1.6090249020714704,1.561065193571754,-1.522692230091544,-1.5708161783184738,-0.01743478944020688],"joint_velocity_rad_s":[-0.0006803206588346848,-0.009543343524447882,0.22103300687285488,-0.2079192564706841,1.4293304811362432e-05,-0.0007962099808270863],"linkage_position_rad":[0.0029341744357744407,0.0001565294977976143,0.0031932846598479473,-0.0034303721049287893,0.0029341304158958664,0.00015614049529136104,0.003196163288546913,-0.003439375777422429],"tcp_position_m":[-0.12569341194332925,0.47753173517511294,0.3506680485187632],"tcp_quaternion_wxyz":[5.729128525906542e-05,0.707103334316575,0.7071102242846387,-4.50357381166006e-05],"object_position_m":[-0.1254627944098706,0.4773124477348004,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.43353421087111e-13,-1.8601920474569165e-11,-2.4898972862865444e-16],"object_linear_velocity_m_s":[2.3291168434633067e-11,1.7949516335418167e-13,7.647936342129972e-15],"object_angular_velocity_rad_s":[-4.3749048003325e-12,5.676452434386161e-10,-1.350930551085564e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536748006082,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5883847098696164,-1.6208397022684824,1.5941820829692466,-1.568854748671799,-1.570813611589059,-0.017592408015903525,0.0],"actuator_force":[-0.05454391177681828,-19.812262984244626,-22.1794239541573,-2.2893336430590807,-0.00014596577386782883,0.000811710234385643,-0.29448769768331595],"issued_joint_targets_rad":[-1.5884064870883976,-1.611222058681809,1.6090306858738261,-1.5683792967964054,-1.570814873607718,-0.01760975412643854],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.5884064870883976,-1.611222058681809,1.6090306858738261,-1.5683792967964054,-1.570814873607718,-0.01760975412643854],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.079999999999882,"qpos":[-1.5882379830707711,-1.609237312194594,1.5656225851392211,-1.527030963089483,-1.5708160610981698,-0.01745147974211984,0.00293417559408453,0.00015652855124332886,0.0031932933747538285,-0.0034303717438096295,0.002934131816421305,0.0001561423480954162,0.003196182674779835,-0.0034393727429983556,-0.1254627944092654,0.47731244773480513,0.29989224457978353,1.0,1.490935161319295e-13,-1.9345023369785932e-11,-2.9101322544354965e-16],"qvel":[-0.0006869920140463323,-0.008707315899014917,0.22020371795809573,-0.20795100741896821,1.4447402547937982e-05,-0.0007995368801306331,0.00011063137075015565,3.260929315753056e-05,8.623743808808144e-06,-0.00024224393396630282,0.00010393392458854114,4.132662654795371e-06,-9.270519597239123e-05,-0.00024595898074661484,2.557468234892953e-11,1.9710621200935087e-13,7.652099678472319e-15,-2.76927108087819e-12,3.5944318506187577e-10,-2.4664488459454603e-15],"joint_position_rad":[-1.5882379830707711,-1.609237312194594,1.5656225851392211,-1.527030963089483,-1.5708160610981698,-0.01745147974211984],"joint_velocity_rad_s":[-0.0006869920140463323,-0.008707315899014917,0.22020371795809573,-0.20795100741896821,1.4447402547937982e-05,-0.0007995368801306331],"linkage_position_rad":[0.00293417559408453,0.00015652855124332886,0.0031932933747538285,-0.0034303717438096295,0.002934131816421305,0.0001561423480954162,0.003196182674779835,-0.0034393727429983556],"tcp_position_m":[-0.12568575195398382,0.47751997797310775,0.3489625177991926],"tcp_quaternion_wxyz":[5.9418657977616185e-05,0.7071033054926438,0.7071102527832317,-4.732476981037515e-05],"object_position_m":[-0.1254627944092654,0.47731244773480513,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.490935161319295e-13,-1.9345023369785932e-11,-2.9101322544354965e-16],"object_linear_velocity_m_s":[2.557468234892953e-11,1.9710621200935087e-13,7.652099678472319e-15],"object_angular_velocity_rad_s":[-2.7692710808778854e-12,3.5944318506187577e-10,-2.466448845907391e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536513331783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884020591281984,-1.6208852220230048,1.5985725639688384,-1.5731996782077113,-1.5708134699221106,-0.01760975699411965,0.0],"actuator_force":[-0.053355309235939785,-19.81289329721585,-22.18152952400351,-2.2892568172173924,-0.0001491522250489652,0.0008150620131583963,-0.29448819700198525],"issued_joint_targets_rad":[-1.588423937851878,-1.6112524221841082,1.6134061700963716,-1.5727251458242408,-1.570814732934868,-0.017627203235466068],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.588423937851878,-1.6112524221841082,1.6134061700963716,-1.5727251458242408,-1.570814732934868,-0.017627203235466068],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.0999999999998797,"qpos":[-1.588254671359311,-1.6094323582912284,1.5701627771597562,-1.5313703689520282,-1.5708159413182998,-0.017468242314232118,0.002934176463272707,0.0001565276045819103,0.003193301722610983,-0.0034303711342802655,0.00293413292749487,0.00015614419816924432,0.0031962016876452472,-0.003439369457350298,-0.12546279440867852,0.47731244773480963,0.29989224457978353,1.0,1.508304484837683e-13,-1.9569688561614123e-11,-3.3709580453795126e-16],"qvel":[-0.0006937850859587725,-0.007869045868398029,0.21937610519668788,-0.20798409800152529,1.4585203137374723e-05,-0.0008030045460575769,0.00011064516600586935,3.254166355059517e-05,9.328618774597078e-06,-0.00024210776915166828,0.00010400033630539832,4.32571554127032e-06,-9.106901498693486e-05,-0.00024574523211900887,2.8844554575483643e-11,2.2231577425439085e-13,7.649324120910757e-15,-2.0896339458529703e-13,2.7121900462422966e-11,-4.503117120409126e-15],"joint_position_rad":[-1.588254671359311,-1.6094323582912284,1.5701627771597562,-1.5313703689520282,-1.5708159413182998,-0.017468242314232118],"joint_velocity_rad_s":[-0.0006937850859587725,-0.007869045868398029,0.21937610519668788,-0.20798409800152529,1.4585203137374723e-05,-0.0008030045460575769],"linkage_position_rad":[0.002934176463272707,0.0001565276045819103,0.003193301722610983,-0.0034303711342802655,0.00293413292749487,0.00015614419816924432,0.0031962016876452472,-0.003439369457350298],"tcp_position_m":[-0.12567805333040558,0.4775083446243362,0.347256916767702],"tcp_quaternion_wxyz":[6.136845499134745e-05,0.7071032790572443,0.7071102789076756,-4.94319134488439e-05],"object_position_m":[-0.12546279440867852,0.47731244773480963,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.508304484837683e-13,-1.9569688561614123e-11,-3.3709580453795126e-16],"object_linear_velocity_m_s":[2.8844554575483643e-11,2.2231577425439085e-13,7.649324120910757e-15],"object_angular_velocity_rad_s":[-2.089633945851025e-13,2.7121900462422966e-11,-4.503117120406207e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536282770289,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884195085351556,-1.6209131320343346,1.6029463617239754,-1.577545547006147,-1.5708133288432906,-0.017627206112352672,0.0],"actuator_force":[-0.05216031730560644,-19.813929138853382,-22.183272950236642,-2.2891792269068674,-0.0001522828091538031,0.0008185555454804927,-0.2944886970499352],"issued_joint_targets_rad":[-1.588441493367633,-1.61126494867746,1.6177648470046504,-1.5770720180994833,-1.5708145928745594,-0.01764475701647577],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.588441493367633,-1.61126494867746,1.6177648470046504,-1.5770720180994833,-1.5708145928745594,-0.01764475701647577],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1199999999998775,"qpos":[-1.5882714411451853,-1.6096099949339282,1.5746858066056677,-1.5357104800328758,-1.5708158192753983,-0.017485080241293367,0.002934177097422829,0.00015652665798135434,0.0031933097562956425,-0.0034303703279150604,0.002934133803082424,0.00015614604509732466,0.00319622037776794,-0.0034393659722339797,-0.12546279440811503,0.477312447734814,0.29989224457978353,1.0,1.4650829964431474e-13,-1.9008053909116418e-11,-3.853624700881588e-16],"qvel":[-0.0007007097140907496,-0.007028589443716529,0.21855023781794977,-0.2080187957071895,1.4708113951787575e-05,-0.0008066202848034359,0.0001106614106726601,3.247380552237949e-05,1.0028993941043881e-05,-0.00024197521867218492,0.00010406913201237375,4.518138895788733e-06,-8.9439034609166e-05,-0.0002455355999028646,3.399154222904859e-11,2.620066256834812e-13,7.643773005787631e-15,3.685317716760548e-12,-4.779621303898508e-10,-8.221561667017423e-15],"joint_position_rad":[-1.5882714411451853,-1.6096099949339282,1.5746858066056677,-1.5357104800328758,-1.5708158192753983,-0.017485080241293367],"joint_velocity_rad_s":[-0.0007007097140907496,-0.007028589443716529,0.21855023781794977,-0.2080187957071895,1.4708113951787575e-05,-0.0008066202848034359],"linkage_position_rad":[0.002934177097422829,0.00015652665798135434,0.0031933097562956425,-0.0034303703279150604,0.002934133803082424,0.00015614604509732466,0.00319622037776794,-0.0034393659722339797],"tcp_position_m":[-0.1256703147088873,0.4774968407216441,0.34555124529899617],"tcp_quaternion_wxyz":[6.315817343838127e-05,0.7071032548027009,0.7071103028658784,-5.137505827665512e-05],"object_position_m":[-0.12546279440811503,0.477312447734814,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4650829964431474e-13,-1.9008053909116418e-11,-3.853624700881588e-16],"object_linear_velocity_m_s":[3.399154222904859e-11,2.620066256834812e-13,7.643773005787631e-15],"object_angular_velocity_rad_s":[3.6853177167604925e-12,-4.779621303898508e-10,-8.221561666966825e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536055864385,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884370626247464,-1.620923398527282,1.6073035270870122,-1.5818924401944496,-1.5708131883697436,-0.017644759901936338,0.0],"actuator_force":[-0.05095907348595574,-19.815371409220916,-22.184654164490894,-2.2891005100680104,-0.00015535856778114976,0.0008221981588594218,-0.29448919773868787],"issued_joint_targets_rad":[-1.5884591586138204,-1.6112595999929573,1.6221067630502164,-1.5814199981249921,-1.5708144534390782,-0.017662420443783928],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.5884591586138204,-1.6112595999929573,1.6221067630502164,-1.5814199981249921,-1.5708144534390782,-0.017662420443783928],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1399999999998753,"qpos":[-1.5882882951367912,-1.6097701774681374,1.5791917114020564,-1.5400513336877935,-1.570815695237736,-0.017501996787120555,0.002934177540805512,0.00015652571158155534,0.003193317519048284,-0.0034303693669642202,0.0029341344873466896,0.00015614788852737102,0.0031962387865103283,-0.003439362329978292,-0.12546279440755428,0.4773124477348183,0.29989224457978353,1.0,1.4241266668238993e-13,-1.8476770036822533e-11,-4.4031509559187363e-16],"qvel":[-0.0007077770358052458,-0.006185980735680165,0.21772615844681734,-0.2080553388139305,1.4817416859723458e-05,-0.0008103927359171834,0.000110679645957579,3.240569526572942e-05,1.0724535094880863e-05,-0.00024184578991351752,0.00010413986693773113,4.709972634404822e-06,-8.781537551382842e-05,-0.0002453296027226153,4.2763097936104855e-11,3.2957575927295065e-13,7.646548563349195e-15,9.323758357110192e-12,-1.2099494384362059e-09,-1.5010394864484894e-14],"joint_position_rad":[-1.5882882951367912,-1.6097701774681374,1.5791917114020564,-1.5400513336877935,-1.570815695237736,-0.017501996787120555],"joint_velocity_rad_s":[-0.0007077770358052458,-0.006185980735680165,0.21772615844681734,-0.2080553388139305,1.4817416859723458e-05,-0.0008103927359171834],"linkage_position_rad":[0.002934177540805512,0.00015652571158155534,0.003193317519048284,-0.0034303693669642202,0.0029341344873466896,0.00015614788852737102,0.0031962387865103283,-0.003439362329978292],"tcp_position_m":[-0.12566253462328536,0.47748547238264294,0.3438455032895135],"tcp_quaternion_wxyz":[6.480362433154653e-05,0.7071032325324079,0.7071103248543477,-5.317037002467036e-05],"object_position_m":[-0.12546279440755428,0.4773124477348183,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4241266668238993e-13,-1.8476770036822533e-11,-4.4031509559187363e-16],"object_linear_velocity_m_s":[4.2763097936104855e-11,3.2957575927295065e-13,7.646548563349195e-15],"object_angular_velocity_rad_s":[9.32375835710968e-12,-1.2099494384362059e-09,-1.501039486456327e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313535832240742,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884547263751883,-1.620915984199387,1.6116441065860325,-1.5862404421259353,-1.5708130485146539,-0.017662423337253888,0.0],"actuator_force":[-0.0497516624718628,-19.81722116822675,-22.185673010774735,-2.2890203376778118,-0.00015838014496694086,0.0008259985250518298,-0.29448969897208666],"issued_joint_targets_rad":[-1.5884769390854465,-1.611236334086378,1.6264319600203505,-1.5857691696465313,-1.5708143146371722,-0.017680199007728936],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.5884769390854465,-1.611236334086378,1.6264319600203505,-1.5857691696465313,-1.5708143146371722,-0.017680199007728936],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.159999999999873,"qpos":[-1.588305236282219,-1.6099128615674752,1.5836805298941414,-1.5443929717216396,-1.5708155694475177,-0.017518995426557344,0.0029341778296506113,0.00015652476549623233,0.003193325046212047,-0.0034303682860460723,0.0029341350164175696,0.00015614972816198046,0.0031962569476774705,-0.003439358565163333,-0.1254627944069962,0.4773124477348226,0.29989224457978353,1.0,1.3264902036394934e-13,-1.7210990690678028e-11,-4.972530987057959e-16],"qvel":[-0.000714999706774341,-0.005341232343363615,0.21690388409344558,-0.20809393935590345,1.4914277548841828e-05,-0.0008143320794179421,0.00011069949185111851,3.233730702414911e-05,1.141499507475172e-05,-0.00024171905751683564,0.00010421217617076488,4.901258895675731e-06,-8.619805952592086e-05,-0.0002451268316642196,2.096043124122246e-11,1.615481040613031e-13,7.649324120910758e-15,-5.297732241264411e-12,6.873290837931464e-10,-1.626252679236842e-15],"joint_position_rad":[-1.588305236282219,-1.6099128615674752,1.5836805298941414,-1.5443929717216396,-1.5708155694475177,-0.017518995426557344],"joint_velocity_rad_s":[-0.000714999706774341,-0.005341232343363615,0.21690388409344558,-0.20809393935590345,1.4914277548841828e-05,-0.0008143320794179421],"linkage_position_rad":[0.0029341778296506113,0.00015652476549623233,0.003193325046212047,-0.0034303682860460723,0.0029341350164175696,0.00015614972816198046,0.0031962569476774705,-0.003439358565163333],"tcp_position_m":[-0.12565471148943408,0.47747424632108026,0.342139690654586],"tcp_quaternion_wxyz":[6.63190949858551e-05,0.7071032120597909,0.7071103450593164,-5.4832457280230344e-05],"object_position_m":[-0.1254627944069962,0.4773124477348226,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3264902036394934e-13,-1.7210990690678028e-11,-4.972530987057959e-16],"object_linear_velocity_m_s":[2.096043124122246e-11,1.615481040613031e-13,7.649324120910758e-15],"object_angular_velocity_rad_s":[-5.297732241263672e-12,6.873290837931464e-10,-1.6262526792482233e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313535611594453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884725052817057,-1.6208908478593922,1.615968142090842,-1.590589636411716,-1.570812909287583,-0.017680201908704125,0.0],"actuator_force":[-0.04853811626344395,-19.819479646488617,-22.18632924397707,-2.2889384094478373,-0.00016134778763898794,0.0008299668684035311,-0.2944902006435185],"issued_joint_targets_rad":[-1.5884948408825332,-1.6111951045848603,1.6307404746218452,-1.5901196156878747,-1.5708141764743286,-0.01769809880271681],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5884948408825332,-1.6111951045848603,1.6307404746218452,-1.5901196156878747,-1.5708141764743286,-0.01769809880271681],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.179999999999871,"qpos":[-1.588322267803219,-1.6100380027897883,1.588152300326629,-1.5487354398915048,-1.5708154421228637,-0.017536079882739607,0.0029341779935989063,0.00015652381981408832,0.0031933323666515994,-0.003430367113525306,0.0029341354198416597,0.00015615156375136993,0.0031962748889024636,-0.00343935470601297,-0.1254627944063613,0.4773124477348275,0.29989224457978353,1.0,1.443086698982523e-13,-1.8725008638329253e-11,-5.896740047157049e-16],"qvel":[-0.0007223921741835524,-0.0044943353165970016,0.21608340667006862,-0.20813478581697326,1.499975395251819e-05,-0.0008184502922790978,0.00011072063205291029,3.226861250910204e-05,1.2100200925634162e-05,-0.0002415946491723589,0.0001042857598773157,5.092042697169459e-06,-8.458701859789714e-05,-0.00024492693459336767,2.3193821502607097e-11,1.7874978584060395e-13,7.65071189969154e-15,-4.652035508603405e-12,6.036210808399067e-10,-2.9691396739974663e-15],"joint_position_rad":[-1.588322267803219,-1.6100380027897883,1.588152300326629,-1.5487354398915048,-1.5708154421228637,-0.017536079882739607],"joint_velocity_rad_s":[-0.0007223921741835524,-0.0044943353165970016,0.21608340667006862,-0.20813478581697326,1.499975395251819e-05,-0.0008184502922790978],"linkage_position_rad":[0.0029341779935989063,0.00015652381981408832,0.0031933323666515994,-0.003430367113525306,0.0029341354198416597,0.00015615156375136993,0.0031962748889024636,-0.00343935470601297],"tcp_position_m":[-0.12564684358697686,0.47746316993096555,0.3404338073259223],"tcp_quaternion_wxyz":[6.771749577907298e-05,0.7071031932071724,0.7071103636579462,-5.637452181688908e-05],"object_position_m":[-0.1254627944063613,0.4773124477348275,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.443086698982523e-13,-1.8725008638329253e-11,-5.896740047157049e-16],"object_linear_velocity_m_s":[2.3193821502607097e-11,1.7874978584060395e-13,7.65071189969154e-15],"object_angular_velocity_rad_s":[-4.652035508602582e-12,6.036210808399067e-10,-2.9691396740007657e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313535393676581,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5884904054446785,-1.620847943982937,1.6202756703972363,-1.5949401059543262,-1.5708127706947548,-0.017698101710747583,0.0],"actuator_force":[-0.04731841324564812,-19.822148259659116,-22.186622526812243,-2.288854449713426,-0.00016426134084213118,0.0008341152239221827,-0.2944907026316795],"issued_joint_targets_rad":[-1.5885128708175957,-1.6111358602284234,1.6350323379617309,-1.5944714185885434,-1.5708140389529928,-0.017716126634538094],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5885128708175957,-1.6111358602284234,1.6350323379617309,-1.5944714185885434,-1.5708140389529928,-0.017716126634538094],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.1999999999998687,"qpos":[-1.5883393932354883,-1.6101455561240983,1.5926070603243632,-1.5530787874607839,-1.5708153134595635,-0.017553254170986236,0.0029341780568912165,0.00015652287460088648,0.003193339503909102,-0.003430365872664005,0.0029341357217688995,0.0001561533950857345,0.0031962926327765056,-0.003439350775508957,-0.12546279440573557,0.4773124477348324,0.29989224457978353,1.0,1.5237289628279858e-13,-1.9771128631111367e-11,-6.941169561954967e-16],"qvel":[-0.0007299710179117301,-0.003645258628720674,0.21526469298112044,-0.20817804558233832,1.5074803830739997e-05,-0.00082276146878601,0.00011074280141906367,3.219958026623405e-05,1.2780044444277808e-05,-0.00024147222995204995,0.00010436037109044294,5.282372636650349e-06,-8.298210002537394e-05,-0.0002447296036011785,2.5645018832271166e-11,1.9764224618513944e-13,7.652099678472323e-15,-3.279154358799198e-12,4.2552155465901397e-10,-5.420901694948658e-15],"joint_position_rad":[-1.5883393932354883,-1.6101455561240983,1.5926070603243632,-1.5530787874607839,-1.5708153134595635,-0.017553254170986236],"joint_velocity_rad_s":[-0.0007299710179117301,-0.003645258628720674,0.21526469298112044,-0.20817804558233832,1.5074803830739997e-05,-0.00082276146878601],"linkage_position_rad":[0.0029341780568912165,0.00015652287460088648,0.003193339503909102,-0.003430365872664005,0.0029341357217688995,0.0001561533950857345,0.0031962926327765056,-0.003439350775508957],"tcp_position_m":[-0.12563892903796625,0.477452251386558,0.33872785324941806],"tcp_quaternion_wxyz":[6.901049273468302e-05,0.7071031758045275,0.707110380819629,-5.780849443703625e-05],"object_position_m":[-0.12546279440573557,0.4773124477348324,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5237289628279858e-13,-1.9771128631111367e-11,-6.941169561954967e-16],"object_linear_velocity_m_s":[2.5645018832271166e-11,1.9764224618513944e-13,7.652099678472323e-15],"object_angular_velocity_rad_s":[-3.2791543587983925e-12,4.2552155465901397e-10,-5.42090169493792e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313535178284009,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5885084336771,-1.6207872221633275,1.6245667227081542,-1.5992919329841175,-1.5708126327392804,-0.01771612954922399,0.0],"actuator_force":[-0.04609247605867495,-19.82522862697033,-22.186552424866022,-2.2887682034329373,-0.00016712024159915018,0.0008384577597233545,-0.29449120479555335],"issued_joint_targets_rad":[-1.5885310365480596,-1.6110585441763445,1.6393075748961505,-1.5988246600453937,-1.5708139020727367,-0.01773429015259303],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.5885310365480596,-1.6110585441763445,1.6393075748961505,-1.5988246600453937,-1.5708139020727367,-0.01773429015259303],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2199999999998665,"qpos":[-1.588356616476891,-1.610235475516778,1.597044846361883,-1.5574230667995732,-1.570815183632615,-0.01757052265104163,0.0029341780393417442,0.0001565219299003705,0.0031933464771449725,-0.0034303645825432515,0.0029341359419232152,0.00015615522198812756,0.003196310197763248,-0.0034393467923248995,-0.12546279440512453,0.47731244773483705,0.29989224457978353,1.0,1.5602602099905887e-13,-2.0247319130456236e-11,-8.095417301860909e-16],"qvel":[-0.0007377553803217315,-0.0027939480667510445,0.21444768410338905,-0.208223867178289,1.5140291461452647e-05,-0.0008272822245189783,0.00011076577545283801,3.213017482176167e-05,1.3454475495319754e-05,-0.00024135149024834832,0.00010443580566664917,5.472302054470652e-06,-8.138306709943255e-05,-0.0002445345634073261,2.884289368526482e-11,2.2225924747811168e-13,7.656263014814667e-15,-9.495503459063911e-13,1.2301930117515775e-10,-9.89717424966234e-15],"joint_position_rad":[-1.588356616476891,-1.610235475516778,1.597044846361883,-1.5574230667995732,-1.570815183632615,-0.01757052265104163],"joint_velocity_rad_s":[-0.0007377553803217315,-0.0027939480667510445,0.21444768410338905,-0.208223867178289,1.5140291461452647e-05,-0.0008272822245189783],"linkage_position_rad":[0.0029341780393417442,0.0001565219299003705,0.0031933464771449725,-0.0034303645825432515,0.0029341359419232152,0.00015615522198812756,0.003196310197763248,-0.0034393467923248995],"tcp_position_m":[-0.12563096578139066,0.47744149976225686,0.33702182838329375],"tcp_quaternion_wxyz":[7.020862728594705e-05,0.7071031596880744,0.7071103967074304,-5.9145157713998766e-05],"object_position_m":[-0.12546279440512453,0.47731244773483705,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5602602099905887e-13,-2.0247319130456236e-11,-8.095417301860909e-16],"object_linear_velocity_m_s":[2.884289368526482e-11,2.2225924747811168e-13,7.656263014814667e-15],"object_angular_velocity_rad_s":[-9.495503459057911e-13,1.2301930117515775e-10,-9.897174249725614e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313534965251176,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5885265976369776,-1.620708626427633,1.6288413239829334,-1.6036451990996334,-1.5708124954213316,-0.017734293073577947,0.0],"actuator_force":[-0.04486016804457904,-19.828722595009367,-22.186118399255065,-2.2886794322012065,-0.00016992350447253557,0.0008430111837380849,-0.2944917069688454],"issued_joint_targets_rad":[-1.5885493467412948,-1.6109630931377061,1.6435662032082479,-1.6031794211596837,-1.570813765830361,-0.01775259801466002],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5885493467412948,-1.6109630931377061,1.6435662032082479,-1.6031794211596837,-1.570813765830361,-0.01775259801466002],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2399999999998643,"qpos":[-1.5883739418457448,-1.6103077133626662,1.6014656932070568,-1.5617683330273568,-1.5708150527975309,-0.017587890089953262,0.0029341779571348866,0.00015652098573554205,0.0031933533018957535,-0.0034303632588421,0.0029341360963961176,0.0001561570443067216,0.0031963275989337074,-0.0034393427715704457,-0.12546279440453442,0.4773124477348416,0.29989224457978353,1.0,1.5362214302947e-13,-1.9941567427644267e-11,-9.321792483970522e-16],"qvel":[-0.0007457675132073704,-0.0019403244050132569,0.21363229403299278,-0.2082723823295019,1.5196993498335009e-05,-0.0008320322109920161,0.0001107893613057052,3.206035561894293e-05,1.4123497529615819e-05,-0.00024123213435177065,0.00010451189386434626,5.661890290604869e-06,-7.978959655125629e-05,-0.0002443415610404219,3.364619650255057e-11,2.5915684338717596e-13,7.656263014814666e-15,2.6720597073474185e-12,-3.4783916485217503e-10,-1.8069786652222648e-14],"joint_position_rad":[-1.5883739418457448,-1.6103077133626662,1.6014656932070568,-1.5617683330273568,-1.5708150527975309,-0.017587890089953262],"joint_velocity_rad_s":[-0.0007457675132073704,-0.0019403244050132569,0.21363229403299278,-0.2082723823295019,1.5196993498335009e-05,-0.0008320322109920161],"linkage_position_rad":[0.0029341779571348866,0.00015652098573554205,0.0031933533018957535,-0.0034303632588421,0.0029341360963961176,0.0001561570443067216,0.0031963275989337074,-0.0034393427715704457],"tcp_position_m":[-0.12562295154252193,0.4774309251777203,0.3353157326965715],"tcp_quaternion_wxyz":[7.132142443296293e-05,0.7071031446986713,0.7071104114797331,-6.039425690981199e-05],"object_position_m":[-0.12546279440453442,0.4773124477348416,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5362214302947e-13,-1.9941567427644267e-11,-9.321792483970522e-16],"object_linear_velocity_m_s":[3.364619650255057e-11,2.5915684338717596e-13,7.656263014814666e-15],"object_angular_velocity_rad_s":[2.6720597073474904e-12,-3.4783916485217503e-10,-1.8069786652524126e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313534754443704,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5885449059923513,-1.6206120943777111,1.633099492115538,-1.6079999853135676,-1.5708123587382485,-0.01775260094162789,0.0],"actuator_force":[-0.04362128792990916,-19.83263226808458,-22.185319796235035,-2.2885879101551154,-0.00017266970871787635,0.0008477952618886064,-0.29449220895240047],"issued_joint_targets_rad":[-1.588567811282849,-1.6108494362700039,1.6478082325610495,-1.6075357824918226,-1.5708136302199343,-0.017771060094801994],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.588567811282849,-1.6108494362700039,1.6478082325610495,-1.6075357824918226,-1.5708136302199343,-0.017771060094801994],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.259999999999862,"qpos":[-1.5883913741520284,-1.6103622199430692,1.6058696333204077,-1.5661146436944908,-1.5708149210914097,-0.017605361738650797,0.002934177823476989,0.00015652004210981225,0.0031933599906846725,-0.003430361914473702,0.002934136198294481,0.00015615886190653192,0.003196344848555831,-0.0034393387254064343,-0.12546279440397448,0.4773124477348459,0.29989224457978353,1.0,1.4260310363350274e-13,-1.8517337631939362e-11,-1.0529572515291841e-15],"qvel":[-0.0007540334817049412,-0.0010842806691248091,0.2128184074186422,-0.20832370786388982,1.524560390947417e-05,-0.0008370347789714899,0.00011081338990575446,3.199007561583822e-05,1.4787166514939492e-05,-0.00024111386765397058,0.00010458849324558669,5.851204407382399e-06,-7.820126976914721e-05,-0.00024415035628369406,4.147384478761451e-11,3.193086585494511e-13,7.649324120910757e-15,8.072814705504238e-12,-1.0496724367912521e-09,-3.299075090285034e-14],"joint_position_rad":[-1.5883913741520284,-1.6103622199430692,1.6058696333204077,-1.5661146436944908,-1.5708149210914097,-0.017605361738650797],"joint_velocity_rad_s":[-0.0007540334817049412,-0.0010842806691248091,0.2128184074186422,-0.20832370786388982,1.524560390947417e-05,-0.0008370347789714899],"linkage_position_rad":[0.002934177823476989,0.00015652004210981225,0.0031933599906846725,-0.003430361914473702,0.002934136198294481,0.00015615886190653192,0.003196344848555831,-0.0034393387254064343],"tcp_position_m":[-0.12561488379559826,0.4774205389753196,0.33360956616794823],"tcp_quaternion_wxyz":[7.235749038522476e-05,0.7071031306799271,0.7071104252921452,-6.156460018940373e-05],"object_position_m":[-0.12546279440397448,0.4773124477348459,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4260310363350274e-13,-1.8517337631939362e-11,-1.0529572515291841e-15],"object_linear_velocity_m_s":[4.147384478761451e-11,3.193086585494511e-13,7.649324120910757e-15],"object_angular_velocity_rad_s":[8.07281470550325e-12,-1.0496724367912521e-09,-3.299075090324936e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313534545753198,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588563368629512,-1.6204975561004284,1.6373412368877527,-1.6123563721065062,-1.5708122226845838,-0.01777106302747284,0.0],"actuator_force":[-0.04237556228508765,-19.836960047068715,-22.18415583276692,-2.2884934196187032,-0.00017535697793391591,0.0008528334861264142,-0.2944927105043302],"issued_joint_targets_rad":[-1.5885864415427686,-1.6107174937671653,1.6520336631495565,-1.611893824126819,-1.570813495232748,-0.017789687749257717],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.5885864415427686,-1.6107174937671653,1.6520336631495565,-1.611893824126819,-1.570813495232748,-0.017789687749257717],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.27999999999986,"qpos":[-1.5884089187853483,-1.610398942787141,1.6102566961864928,-1.5704620584995461,-1.5708147886337298,-0.017622943426402495,0.0029341776491292886,0.00015651909900806041,0.003193366553501176,-0.0034303605601113574,0.002934136258268423,0.00015616067465950122,0.003196361956550688,-0.003439334663520692,-0.12546279440342942,0.47731244773485004,0.29989224457978353,1.0,1.287513241644226e-13,-1.672321351950861e-11,-1.1780990320574513e-15],"qvel":[-0.000762584082013463,-0.00022567821058074573,0.21200587611700236,-0.20837794749675326,1.5286737979788765e-05,-0.0008423178443741239,0.0001108377088201073,3.1919279283471706e-05,1.5445591654891965e-05,-0.0002409963846058926,0.00010466548256394378,6.04032147819118e-06,-7.661755925253411e-05,-0.00024396071106332653,2.0478029462856023e-11,1.5766810020114455e-13,7.649324120910757e-15,-5.294356951571426e-12,6.874856349900527e-10,-3.5742750329502036e-15],"joint_position_rad":[-1.5884089187853483,-1.610398942787141,1.6102566961864928,-1.5704620584995461,-1.5708147886337298,-0.017622943426402495],"joint_velocity_rad_s":[-0.000762584082013463,-0.00022567821058074573,0.21200587611700236,-0.20837794749675326,1.5286737979788765e-05,-0.0008423178443741239],"linkage_position_rad":[0.0029341776491292886,0.00015651909900806041,0.003193366553501176,-0.0034303605601113574,0.002934136258268423,0.00015616067465950122,0.003196361956550688,-0.003439334663520692],"tcp_position_m":[-0.12560675971786173,0.47741035393957254,0.33190332878512463],"tcp_quaternion_wxyz":[7.332460065554793e-05,0.7071031174759151,0.7071104382998098,-6.266414916969531e-05],"object_position_m":[-0.12546279440342942,0.47731244773485004,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.287513241644226e-13,-1.672321351950861e-11,-1.1780990320574513e-15],"object_linear_velocity_m_s":[2.0478029462856023e-11,1.5766810020114455e-13,7.649324120910757e-15],"object_angular_velocity_rad_s":[-5.294356951569687e-12,6.874856349900527e-10,-3.574275032998155e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313534339093421,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5885819969193096,-1.6203649327689047,1.6415665586215655,-1.6167144394914537,-1.5708120872520603,-0.017789690687384143,0.0],"actuator_force":[-0.0411226351170626,-19.841708679295152,-22.182625576655482,-2.288395746278411,-0.0001779829632369001,0.0008581539465879473,-0.29449321132680584],"issued_joint_targets_rad":[-1.5886052507213098,-1.61056717502473,1.6562424839438206,-1.6162536257547302,-1.570813360857175,-0.017808494161570338],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5886052507213098,-1.61056717502473,1.6562424839438206,-1.6162536257547302,-1.570813360857175,-0.017808494161570338],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.2999999999998577,"qpos":[-1.5884265818249874,-1.6104178259251611,1.6146269075460142,-1.574810639040159,-1.5708146555268307,-0.0176406416789321,0.002934177442842793,0.00015651815639793008,0.0031933729981695603,-0.0034303592046419783,0.002934136284939415,0.0001561624824322134,0.003196378930840241,-0.0034393305935289126,-0.12546279440282376,0.47731244773485465,0.29989224457978353,1.0,1.3691915962680095e-13,-1.7793128798342117e-11,-1.3812267749495117e-15],"qvel":[-0.0007714560551720257,0.0006356588177600668,0.21119451418053675,-0.20843519353033427,1.5320935264792023e-05,-0.0008479150348780405,0.00011086217553640302,3.184790019249876e-05,1.609894094056909e-05,-0.00024087935306477313,0.0001047427564394575,6.229331687403591e-06,-7.50378061250957e-05,-0.00024377238068331442,2.2114834828358667e-11,1.701832246700951e-13,7.65209967847232e-15,-4.5212772383718535e-12,5.872420127636531e-10,-6.52573697235735e-15],"joint_position_rad":[-1.5884265818249874,-1.6104178259251611,1.6146269075460142,-1.574810639040159,-1.5708146555268307,-0.0176406416789321],"joint_velocity_rad_s":[-0.0007714560551720257,0.0006356588177600668,0.21119451418053675,-0.20843519353033427,1.5320935264792023e-05,-0.0008479150348780405],"linkage_position_rad":[0.002934177442842793,0.00015651815639793008,0.0031933729981695603,-0.0034303592046419783,0.002934136284939415,0.0001561624824322134,0.003196378930840241,-0.0034393305935289126],"tcp_position_m":[-0.12559857613218225,0.4774003845718486,0.33019702054473415],"tcp_quaternion_wxyz":[7.422977946188925e-05,0.7071031049283253,0.7071104506602616,-6.370010070634309e-05],"object_position_m":[-0.12546279440282376,0.47731244773485465,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3691915962680095e-13,-1.7793128798342117e-11,-1.3812267749495117e-15],"object_linear_velocity_m_s":[2.2114834828358667e-11,1.701832246700951e-13,7.65209967847232e-15],"object_angular_velocity_rad_s":[-4.52127723837e-12,5.872420127636531e-10,-6.525736972443321e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313534134397539,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588600804062851,-1.6202141348231833,1.6457754464225274,-1.62107426709343,-1.5708119524294342,-0.017808497104934325,0.0],"actuator_force":[-0.03986205365845308,-19.846881323147954,-22.180727919188485,-2.2882946736019676,-0.00018054482814022776,0.0008637904866901636,-0.2944937110489897],"issued_joint_targets_rad":[-1.5886242543051845,-1.6103983762186056,1.6604346703652284,-1.6206152667722857,-1.5708132270783965,-0.01782749479806303],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.5886242543051845,-1.6103983762186056,1.6604346703652284,-1.6206152667722857,-1.5708132270783965,-0.01782749479806303],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3199999999998555,"qpos":[-1.5884443701794795,-1.6104188089903788,1.6189802884858258,-1.5791604485956807,-1.5708145218560032,-0.017658463868361122,0.0029341772117132277,0.0001565172142312133,0.003193379330614608,-0.0034303578555393618,0.002934136285245957,0.00015616428507014997,0.0031963957775846337,-0.003439326521270994,-0.12546279440223343,0.4773124477348592,0.29989224457978353,1.0,1.4304486114450646e-13,-1.859223112299855e-11,-1.6107775120702e-15],"qvel":[-0.0007806937187851829,0.0014999511950714636,0.21038409069550243,-0.20849552851239883,1.534866137150109e-05,-0.0008538672331395259,0.00011088665057760925,3.177585728327779e-05,1.6747449395616037e-05,-0.00024076239732541868,0.00010482022042200644,6.41834275746039e-06,-7.346118728654948e-05,-0.0002435850988286153,2.415116179345246e-11,1.8582149911224958e-13,7.653487457253102e-15,-3.147413313583849e-12,4.0893964101369545e-10,-1.191437015689588e-14],"joint_position_rad":[-1.5884443701794795,-1.6104188089903788,1.6189802884858258,-1.5791604485956807,-1.5708145218560032,-0.017658463868361122],"joint_velocity_rad_s":[-0.0007806937187851829,0.0014999511950714636,0.21038409069550243,-0.20849552851239883,1.534866137150109e-05,-0.0008538672331395259],"linkage_position_rad":[0.0029341772117132277,0.0001565172142312133,0.003193379330614608,-0.0034303578555393618,0.002934136285245957,0.00015616428507014997,0.0031963957775846337,-0.003439326521270994],"tcp_position_m":[-0.12559032943442244,0.47739064743901005,0.32849064145306184],"tcp_quaternion_wxyz":[7.507937117636306e-05,0.7071030928728057,0.7071104625371001,-6.467896074751394e-05],"object_position_m":[-0.12546279440223343,0.4773124477348592,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4304486114450646e-13,-1.859223112299855e-11,-1.6107775120702e-15],"object_linear_velocity_m_s":[2.415116179345246e-11,1.8582149911224958e-13,7.653487457253102e-15],"object_angular_velocity_rad_s":[-3.1474133135820885e-12,4.0893964101369545e-10,-1.1914370156937324e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353393161657,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5886198055477334,-1.6200450595676361,1.6499678758563268,-1.6254359342503042,-1.5708118182022224,-0.01782749774647308,0.0],"actuator_force":[-0.03859324899394778,-19.852481632543004,-22.178461537198473,-2.2881899760718625,-0.00018303924673546135,0.0008697842579739046,-0.29449420920295727],"issued_joint_targets_rad":[-1.588643470680961,-1.6102109770535442,1.6646101811607368,-1.6249788264149045,-1.5708130938779572,-0.01784670802017792],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.588643470680961,-1.6102109770535442,1.6646101811607368,-1.6249788264149045,-1.5708130938779572,-0.01784670802017792],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3399999999998533,"qpos":[-1.5884622917663935,-1.6104018261081519,1.623316854326513,-1.583511551940697,-1.5708143876890646,-0.017676418406746285,0.002934176961469423,0.0001565162724463431,0.003193385555024383,-0.0034303565192162653,0.002934136264718718,0.00015616608237483523,0.003196412501308516,-0.0034393224510299667,-0.1254627944016253,0.47731244773486387,0.29989224457978353,1.0,1.5391842321217249e-13,-2.0006822599663708e-11,-1.899200722351181e-15],"qvel":[-0.0007903512013738281,0.002367475500343011,0.20957431958364792,-0.20855902691073178,1.53703083040647e-05,-0.0008602246921181983,0.00011091098988531828,3.170304995521911e-05,1.7391434719756053e-05,-0.00024064507368739955,0.00010489778609607722,6.6074858788420605e-06,-7.188666659225418e-05,-0.0002433985647449778,2.776068909409928e-11,2.1357315106342498e-13,7.653487457253102e-15,-1.2263684866561517e-12,1.5933176982943374e-10,-2.175261510970019e-14],"joint_position_rad":[-1.5884622917663935,-1.6104018261081519,1.623316854326513,-1.583511551940697,-1.5708143876890646,-0.017676418406746285],"joint_velocity_rad_s":[-0.0007903512013738281,0.002367475500343011,0.20957431958364792,-0.20855902691073178,1.53703083040647e-05,-0.0008602246921181983],"linkage_position_rad":[0.002934176961469423,0.0001565162724463431,0.003193385555024383,-0.0034303565192162653,0.002934136264718718,0.00015616608237483523,0.003196412501308516,-0.0034393224510299667],"tcp_position_m":[-0.12558201550001355,0.4773811616227544,0.3267841915279085],"tcp_quaternion_wxyz":[7.587910442584499e-05,0.707103081134101,0.7071104741048564,-6.560661096559712e-05],"object_position_m":[-0.1254627944016253,0.47731244773486387,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5391842321217249e-13,-2.0006822599663708e-11,-1.899200722351181e-15],"object_linear_velocity_m_s":[2.776068909409928e-11,2.1357315106342498e-13,7.653487457253102e-15],"object_angular_velocity_rad_s":[-1.226368486654676e-12,1.5933176982943374e-10,-2.1752615109723476e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533730719037,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5886390197614328,-1.6198575879425094,1.6541438058233418,-1.6297995201440634,-1.5708116845522615,-0.017846710973466455,0.0],"actuator_force":[-0.03731550952898033,-19.858513868852697,-22.175824839801408,-2.288081410609948,-0.0001854624289308049,0.0008761858517356558,-0.29449470518931403],"issued_joint_targets_rad":[-1.588662921977259,-1.6100048363081656,1.6687689541149457,-1.6293443839330748,-1.5708129612330766,-0.017866155925178987],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.588662921977259,-1.6100048363081656,1.6687689541149457,-1.6293443839330748,-1.5708129612330766,-0.017866155925178987],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.359999999999851,"qpos":[-1.588480355747986,-1.6103668044833048,1.6276366132200455,-1.587864015189493,-1.5708142530752285,-0.017694515000591365,0.002934176696707593,0.00015651533097205033,0.0031933916739036766,-0.003430355201336099,0.002934136227695418,0.0001561678740714609,0.0031964291049025365,-0.003439318385675182,-0.1254627944010253,0.47731244773486853,0.29989224457978353,1.0,1.5681351653121746e-13,-2.038408869346674e-11,-2.2094007355948633e-15],"qvel":[-0.000800495566801945,0.003238579553929805,0.2087648449860742,-0.20862575688286666,1.5386193071230832e-05,-0.0008670499958740793,0.00011093503568461097,3.1629350600103106e-05,1.803132014765725e-05,-0.0002405268388434426,0.00010497536592852117,6.796924611414539e-06,-7.031292259152882e-05,-0.00024321242105340514,3.275880836503212e-11,2.520075311250313e-13,7.654875236033884e-15,1.9517731504119287e-12,-2.5379547990836557e-10,-3.9714699906210265e-14],"joint_position_rad":[-1.588480355747986,-1.6103668044833048,1.6276366132200455,-1.587864015189493,-1.5708142530752285,-0.017694515000591365],"joint_velocity_rad_s":[-0.000800495566801945,0.003238579553929805,0.2087648449860742,-0.20862575688286666,1.5386193071230832e-05,-0.0008670499958740793],"linkage_position_rad":[0.002934176696707593,0.00015651533097205033,0.0031933916739036766,-0.003430355201336099,0.002934136227695418,0.0001561678740714609,0.0031964291049025365,-0.003439318385675182],"tcp_position_m":[-0.12557362956164422,0.4773719493089322,0.325077670802145],"tcp_quaternion_wxyz":[7.663414930211338e-05,0.7071030695193862,0.7071104855556628,-6.64883687807277e-05],"object_position_m":[-0.1254627944010253,0.47731244773486853,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5681351653121746e-13,-2.038408869346674e-11,-2.2094007355948633e-15],"object_linear_velocity_m_s":[3.275880836503212e-11,2.520075311250313e-13,7.654875236033884e-15],"object_angular_velocity_rad_s":[1.9517731504124263e-12,-2.5379547990836557e-10,-3.9714699906237155e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533531692168,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5886584688334864,-1.6196515800982731,1.6583031742710823,-1.6341651039764715,-1.5708115514570187,-0.01786615888320006,0.0],"actuator_force":[-0.03602794427979461,-19.864983051508716,-22.172815892356084,-2.2879687052026156,-0.00018781020219194033,0.0008830582830618994,-0.2944951982282162],"issued_joint_targets_rad":[-1.5886826352491865,-1.609779785588453,1.6729109000324118,-1.6337120188351095,-1.5708128291156014,-0.01788586552845531],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.5886826352491865,-1.609779785588453,1.6729109000324118,-1.6337120188351095,-1.5708128291156014,-0.01788586552845531],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.379999999999849,"qpos":[-1.5884985728463128,-1.6103136625522732,1.6319395643265622,-1.5922179056728922,-1.5708141180429513,-0.017712764992707786,0.002934176421080732,0.00015651438973405274,0.003193397687989607,-0.003430353907155468,0.002934136177480753,0.00015616965975885112,0.003196445589455663,-0.0034393143267330986,-0.12546279440044497,0.47731244773487297,0.29989224457978353,1.0,1.4990784527988648e-13,-1.948609286049197e-11,-2.5224501007692397e-15],"qvel":[-0.0008112112897438318,0.004113704735237196,0.20795522001587102,-0.2086957822595716,1.5396554099319866e-05,-0.0008744223045731987,0.00011095860442025876,3.15545937918585e-05,1.8667671421317957e-05,-0.00024040700302501252,0.00010505286710595359,6.986867907690296e-06,-6.873823888637366e-05,-0.00024302622603643474,4.02555623034737e-11,3.097082411038801e-13,7.660426351157008e-15,6.9157631174239665e-12,-8.986794866152688e-10,-7.250918381486584e-14],"joint_position_rad":[-1.5884985728463128,-1.6103136625522732,1.6319395643265622,-1.5922179056728922,-1.5708141180429513,-0.017712764992707786],"joint_velocity_rad_s":[-0.0008112112897438318,0.004113704735237196,0.20795522001587102,-0.2086957822595716,1.5396554099319866e-05,-0.0008744223045731987],"linkage_position_rad":[0.002934176421080732,0.00015651438973405274,0.003193397687989607,-0.003430353907155468,0.002934136177480753,0.00015616965975885112,0.003196445589455663,-0.0034393143267330986],"tcp_position_m":[-0.1255651660458708,0.4773630365760333,0.3233710793298991],"tcp_quaternion_wxyz":[7.734916792718169e-05,0.7071030578088121,0.7071104971087144,-6.732904126227123e-05],"object_position_m":[-0.12546279440044497,0.47731244773487297,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4990784527988648e-13,-1.948609286049197e-11,-2.5224501007692397e-15],"object_linear_velocity_m_s":[4.02555623034737e-11,3.097082411038801e-13,7.660426351157008e-15],"object_angular_velocity_rad_s":[6.915763117422258e-12,-8.986794866152688e-10,-7.250918381478164e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533334545322,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588678179819915,-1.619426869187448,1.6624458921769676,-1.6385327652111068,-1.5708114188885436,-0.01788586849108251,0.0],"actuator_force":[-0.034729431306914194,-19.871895164444595,-22.16943230553761,-2.2878515431501683,-0.00019007820606020687,0.0008904812699572773,-0.29449568728570535],"issued_joint_targets_rad":[-1.5887026441910168,-1.6095356203308528,1.677035894064583,-1.638081811231997,-1.5708126974904177,-0.017905870473047834],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5887026441910168,-1.6095356203308528,1.677035894064583,-1.638081811231997,-1.5708126974904177,-0.017905870473047834],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.3999999999998467,"qpos":[-1.5885169557744325,-1.61024230749355,1.6362256953676093,-1.5965732918509246,-1.5708139825962144,-0.01773118183272706,0.002934176137452528,0.00015651344866726789,0.003193403595979207,-0.003430352641899164,0.002934136116454046,0.00015617143883063365,0.0031964619538429246,-0.0034393102743454623,-0.12546279439990193,0.47731244773487713,0.29989224457978353,1.0,1.3032880794924868e-13,-1.6940189948669897e-11,-2.7974946842447276e-15],"qvel":[-0.00082260684756398,0.004993418984404955,0.20714487521424396,-0.208769164929744,1.5401544730992773e-05,-0.0008824436126565131,0.00011098146969569147,3.147855948585713e-05,1.9301254374481084e-05,-0.00024028465856899082,0.00010513018355719717,7.1775902164825926e-06,-6.716033516429286e-05,-0.00024283940817581738,2.0695191396944233e-11,1.5921630290161255e-13,7.653487457253099e-15,-5.549368284704104e-12,7.213464502799094e-10,-7.855770815461178e-15],"joint_position_rad":[-1.5885169557744325,-1.61024230749355,1.6362256953676093,-1.5965732918509246,-1.5708139825962144,-0.01773118183272706],"joint_velocity_rad_s":[-0.00082260684756398,0.004993418984404955,0.20714487521424396,-0.208769164929744,1.5401544730992773e-05,-0.0008824436126565131],"linkage_position_rad":[0.002934176137452528,0.00015651344866726789,0.003193403595979207,-0.003430352641899164,0.002934136116454046,0.00015617143883063365,0.0031964619538429246,-0.0034393102743454623],"tcp_position_m":[-0.12555661834972565,0.4773544544748159,0.321664417196977],"tcp_quaternion_wxyz":[7.802835830626772e-05,0.707103045741607,0.7071105090241663,-6.813297323336753e-05],"object_position_m":[-0.12546279439990193,0.47731244773487713,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3032880794924868e-13,-1.6940189948669897e-11,-2.7974946842447276e-15],"object_linear_velocity_m_s":[2.0695191396944233e-11,1.5921630290161255e-13,7.653487457253099e-15],"object_angular_velocity_rad_s":[-5.549368284699803e-12,7.213464502799094e-10,-7.855770815451438e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533139316615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588698186415887,-1.6191832524192855,1.6665718348758838,-1.6429025839174616,-1.5708112868118762,-0.017905873440172453,0.0],"actuator_force":[-0.03341854388327192,-19.87925744523318,-22.16567106914863,-2.2877295402940945,-0.000192262304040014,0.0008985575429552028,-0.29449617096159314],"issued_joint_targets_rad":[-1.588709579295057,-1.6093467909444656,1.6780922868518369,-1.6393421839003817,-1.5708114698072149,-0.01791283227095109],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.588709579295057,-1.6093467909444656,1.6780922868518369,-1.6393421839003817,-1.5708114698072149,-0.01791283227095109],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4199999999998445,"qpos":[-1.5885342017509287,-1.6101349910298919,1.6402496825273702,-1.600653105649763,-1.570813710351218,-0.01774856197727208,0.002935786165042813,0.00015671224214377312,0.003194476693707119,-0.0034328693770349517,0.0029357220308170976,0.000156292572271961,0.0031972270657064615,-0.003441856841570725,-0.12546279439927174,0.47731244773488196,0.29989224457978353,1.0,1.3971402913188335e-13,-1.816245724577159e-11,-3.2996580113351783e-15],"qvel":[-0.0008682631760794428,0.0057428943862727596,0.19229693170712195,-0.19446794125610448,1.3396832176539685e-05,-0.0008297462452086642,0.00010474578302622055,9.040646191655753e-06,7.711015238135637e-05,-0.00014462822217219495,0.00010389924460812297,6.117342487498759e-06,6.502493640983522e-05,-0.00014695513643417146,2.242481241035795e-11,1.7250290623750215e-13,7.64793634212997e-15,-4.908626444973209e-12,6.380388498335489e-10,-1.434270178915304e-14],"joint_position_rad":[-1.5885342017509287,-1.6101349910298919,1.6402496825273702,-1.600653105649763,-1.570813710351218,-0.01774856197727208],"joint_velocity_rad_s":[-0.0008682631760794428,0.0057428943862727596,0.19229693170712195,-0.19446794125610448,1.3396832176539685e-05,-0.0008297462452086642],"linkage_position_rad":[0.002935786165042813,0.00015671224214377312,0.003194476693707119,-0.0034328693770349517,0.0029357220308170976,0.000156292572271961,0.0031972270657064615,-0.003441856841570725],"tcp_position_m":[-0.12554868639486852,0.47734360623668354,0.3200422346181222],"tcp_quaternion_wxyz":[9.580778165340541e-05,0.7071029960451087,0.7071105544953704,-8.675337856426474e-05],"object_position_m":[-0.12546279439927174,0.47731244773488196,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3971402913188335e-13,-1.816245724577159e-11,-3.2996580113351783e-15],"object_linear_velocity_m_s":[2.242481241035795e-11,1.7250290623750215e-13,7.64793634212997e-15],"object_angular_velocity_rad_s":[-4.908626444968478e-12,6.380388498335489e-10,-1.434270178917252e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536364363192,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887056916311613,-1.6189934277332816,1.6676291501687237,-1.6441635559337142,-1.5708100582643405,-0.017912834972871803,0.0],"actuator_force":[0.0043255099667476316,-20.014031161288585,-22.15983740014144,-2.3084310163650343,0.00048636022108894394,0.0008381267210051391,-0.2946186349311673],"issued_joint_targets_rad":[-1.5887111941068088,-1.6092062673665728,1.6779750202974293,-1.6393848640736441,-1.5708099462648637,-0.017914484130347613],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.5887111941068088,-1.6092062673665728,1.6779750202974293,-1.6393848640736441,-1.5708099462648637,-0.017914484130347613],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4399999999998423,"qpos":[-1.5885507689294762,-1.6100139587135742,1.6438882140893087,-1.6043472183499163,-1.5708133818453274,-0.017764458669485426,0.0029376622684714315,0.00015676084810394486,0.0031961847145979185,-0.003434935988476412,0.002937598332672881,0.00015635274399540853,0.0031989510981766858,-0.0034439518467244547,-0.12546279439865587,0.4773124477348867,0.29989224457978353,1.0,1.4694078923041797e-13,-1.9106827605911136e-11,-3.869398078660058e-15],"qvel":[-0.0008355258544048795,0.005853450497705074,0.17330194843252666,-0.17606756198893436,1.537676801590114e-05,-0.0007577552840193879,8.080175000809037e-05,-2.028361086723253e-06,8.442452466340328e-05,-7.170886623204181e-05,8.158588901207104e-05,1.8052882185738497e-06,9.779975365458106e-05,-7.138001764247763e-05,2.4450141410124614e-11,1.8803437092536122e-13,7.643773005787627e-15,-3.6784879019817955e-12,4.781003175752653e-10,-2.618613611184912e-14],"joint_position_rad":[-1.5885507689294762,-1.6100139587135742,1.6438882140893087,-1.6043472183499163,-1.5708133818453274,-0.017764458669485426],"joint_velocity_rad_s":[-0.0008355258544048795,0.005853450497705074,0.17330194843252666,-0.17606756198893436,1.537676801590114e-05,-0.0007577552840193879],"linkage_position_rad":[0.0029376622684714315,0.00015676084810394486,0.0031961847145979185,-0.003434935988476412,0.002937598332672881,0.00015635274399540853,0.0031989510981766858,-0.0034439518467244547],"tcp_position_m":[-0.12554108388312124,0.47733320061363027,0.31856472032565686],"tcp_quaternion_wxyz":[0.00011841408067804036,0.7071032295549584,0.7071103142644639,-0.00011041677448967184],"object_position_m":[-0.12546279439865587,0.4773124477348867,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4694078923041797e-13,-1.9106827605911136e-11,-3.869398078660058e-15],"object_linear_velocity_m_s":[2.4450141410124614e-11,1.8803437092536122e-13,7.643773005787627e-15],"object_angular_velocity_rad_s":[-3.678487901977095e-12,4.781003175752653e-10,-2.6186136111912713e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931352378692355,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588708011761633,-1.6188516484551154,1.667512818647095,-1.644206950443065,-1.570808533701883,-0.017914486507577466,0.0],"actuator_force":[0.019724677448266448,-20.016759682163865,-22.071570257437997,-2.3231098476808256,0.000886394920598832,0.0007616093559175141,-0.2945749682523164],"issued_joint_targets_rad":[-1.5887126352882444,-1.6090917834082161,1.677881101955156,-1.6394229230120352,-1.5708085868659114,-0.017915959409499034],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.5887126352882444,-1.6090917834082161,1.677881101955156,-1.6394229230120352,-1.5708085868659114,-0.017915959409499034],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.45999999999984,"qpos":[-1.5885662848205049,-1.609895266469628,1.6471673264796676,-1.6076924287475296,-1.5708129847119898,-0.017778973490100363,0.0029390180369986666,0.0001567200974372091,0.0031976335334031763,-0.0034360699525194413,0.002938961760493939,0.0001563543982456368,0.0032005563381599694,-0.0034450695377188935,-0.1254627943980567,0.4773124477348913,0.29989224457978353,1.0,1.5090747063188897e-13,-1.9626679659985523e-11,-4.5033114398878965e-15],"qvel":[-0.0007672781350583803,0.005677207122824572,0.15616337198903857,-0.15944757915957788,1.979535486117645e-05,-0.0006918888859088373,5.602667160305638e-05,-2.733882851257515e-06,6.319242646598465e-05,-4.407031330137003e-05,5.66331615625755e-05,6.116157050251173e-07,7.587682572328294e-05,-4.2111541090839896e-05,2.7165599636635843e-11,2.08873300810766e-13,7.646548563349188e-15,-1.6328018608299936e-12,2.1211738891663224e-10,-4.78091572121474e-14],"joint_position_rad":[-1.5885662848205049,-1.609895266469628,1.6471673264796676,-1.6076924287475296,-1.5708129847119898,-0.017778973490100363],"joint_velocity_rad_s":[-0.0007672781350583803,0.005677207122824572,0.15616337198903857,-0.15944757915957788,1.979535486117645e-05,-0.0006918888859088373],"linkage_position_rad":[0.0029390180369986666,0.0001567200974372091,0.0031976335334031763,-0.0034360699525194413,0.002938961760493939,0.0001563543982456368,0.0032005563381599694,-0.0034450695377188935],"tcp_position_m":[-0.12553396436304282,0.4773247307025203,0.31723034429443453],"tcp_quaternion_wxyz":[0.00013653097815172574,0.7071035801065503,0.7071099572167064,-0.00012947887227838216],"object_position_m":[-0.1254627943980567,0.4773124477348913,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5090747063188897e-13,-1.9626679659985523e-11,-4.5033114398878965e-15],"object_linear_velocity_m_s":[2.7165599636635843e-11,2.08873300810766e-13,7.646548563349188e-15],"object_angular_velocity_rad_s":[-1.6328018608262064e-12,2.121173889166323e-10,-4.7809157212220156e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313507492876388,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588710038591432,-1.6187363178113847,1.6674198710820134,-1.6442456017948048,-1.5708071730512314,-0.017915961514845615,0.0],"actuator_force":[0.01940371216960557,-19.952985532643197,-21.96025959092367,-2.3318286076797676,0.0009262948931336723,0.0006948762182563684,-0.2944622890404584],"issued_joint_targets_rad":[-1.588713923822727,-1.60899937508315,1.677806763869579,-1.6394567474153947,-1.570807369247992,-0.017917279044640123],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.588713923822727,-1.60899937508315,1.677806763869579,-1.6394567474153947,-1.570807369247992,-0.017917279044640123],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.479999999999838,"qpos":[-1.5885805369954606,-1.6097817294205006,1.6501230135281633,-1.610721896415235,-1.5708125071759944,-0.017792224193533154,0.0029399294763138937,0.00015667841300056996,0.0031986624853978696,-0.0034367755254973587,0.0029398791486039745,0.00015635043568265787,0.0032017334031258036,-0.0034457457261813118,-0.1254627943974781,0.47731244773489573,0.29989224457978353,1.0,1.499067722907819e-13,-1.94996949942246e-11,-5.185087751546903e-15],"qvel":[-0.0007006959119745967,0.005416550985913764,0.14076067276414522,-0.14439621571035402,2.3600665214092758e-05,-0.0006316260796944051,3.6312437218244235e-05,-2.425265283010162e-06,4.3123654696133224e-05,-2.6326525788990934e-05,3.6814161413227514e-05,4.343632039085773e-07,5.410942278777561e-05,-2.4457181816738968e-05,3.125414242135198e-11,2.402699452921832e-13,7.64654856334919e-15,1.5449429771124296e-12,-2.0129125877021429e-10,-8.728738560852368e-14],"joint_position_rad":[-1.5885805369954606,-1.6097817294205006,1.6501230135281633,-1.610721896415235,-1.5708125071759944,-0.017792224193533154],"joint_velocity_rad_s":[-0.0007006959119745967,0.005416550985913764,0.14076067276414522,-0.14439621571035402,2.3600665214092758e-05,-0.0006316260796944051],"linkage_position_rad":[0.0029399294763138937,0.00015667841300056996,0.0031986624853978696,-0.0034367755254973587,0.0029398791486039745,0.00015635043568265787,0.0032017334031258036,-0.0034457457261813118],"tcp_position_m":[-0.12552743708775121,0.4773178905683425,0.31602602655602874],"tcp_quaternion_wxyz":[0.0001501611649466278,0.7071039313191816,0.70710960044598,-0.00014395036936408945],"object_position_m":[-0.1254627943974781,0.47731244773489573,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.499067722907819e-13,-1.94996949942246e-11,-5.185087751546903e-15],"object_linear_velocity_m_s":[3.125414242135198e-11,2.402699452921832e-13,7.64654856334919e-15],"object_angular_velocity_rad_s":[1.5449429771137465e-12,-2.0129125877021429e-10,-8.728738560862169e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313494863419275,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887118056778962,-1.6186433831595015,1.6673465134182839,-1.6442799165894655,-1.5708059539039168,-0.01791728092311254,0.0],"actuator_force":[0.017740999918714806,-19.88992787236748,-21.857269325416837,-2.3393885160797936,0.000916569517357857,0.0006342431797481396,-0.29435606423905075],"issued_joint_targets_rad":[-1.5887150772914942,-1.6089249432155226,1.6777481786679707,-1.6394867908174025,-1.5708062773666391,-0.017918460850728905],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.5887150772914942,-1.6089249432155226,1.6777481786679707,-1.6394867908174025,-1.5708062773666391,-0.017918460850728905],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.4999999999998357,"qpos":[-1.588593587361725,-1.6096744485699381,1.6527879404051455,-1.6134653759951716,-1.570811966099765,-0.017804318690507765,0.0029404930415321234,0.00015664076583057261,0.003199335724216743,-0.003437166253567386,0.0029404479287219796,0.00015634641081067231,0.0032025395340563876,-0.0034461093246083777,-0.1254627943969269,0.47731244773489995,0.29989224457978353,1.0,1.4150824495922581e-13,-1.8408011961895825e-11,-5.873126970107622e-15],"qvel":[-0.0006390090301413089,0.005109908667820288,0.12691485668203437,-0.1307628449712864,2.650322518504516e-05,-0.0005765075643158297,2.1038199273622205e-05,-2.1358488635782447e-06,2.7096743790556648e-05,-1.2685420965783167e-05,2.146451589821922e-05,3.1434497297170395e-07,3.6540920645719415e-05,-1.1053214739040347e-05,3.789293013199905e-11,2.913039445058969e-13,7.650711899691535e-15,6.299741009037446e-12,-8.193619351243996e-10,-1.593652306250013e-13],"joint_position_rad":[-1.588593587361725,-1.6096744485699381,1.6527879404051455,-1.6134653759951716,-1.570811966099765,-0.017804318690507765],"joint_velocity_rad_s":[-0.0006390090301413089,0.005109908667820288,0.12691485668203437,-0.1307628449712864,2.650322518504516e-05,-0.0005765075643158297],"linkage_position_rad":[0.0029404930415321234,0.00015664076583057261,0.003199335724216743,-0.003437166253567386,0.0029404479287219796,0.00015634641081067231,0.0032025395340563876,-0.0034461093246083777],"tcp_position_m":[-0.12552147303968963,0.47731241000869595,0.31493917237362357],"tcp_quaternion_wxyz":[0.00015993921369062284,0.707104267049005,0.7071092603534678,-0.0001544762376733294],"object_position_m":[-0.1254627943969269,0.47731244773489995,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4150824495922581e-13,-1.8408011961895825e-11,-5.873126970107622e-15],"object_linear_velocity_m_s":[3.789293013199905e-11,2.913039445058969e-13,7.650711899691535e-15],"object_angular_velocity_rad_s":[6.299741009033689e-12,-8.193619351243997e-10,-1.5936523062496284e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485788481032,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887133496251504,-1.618568664198718,1.6672888976069997,-1.6443103692518437,-1.57080486027243,-0.017918462538621206,0.0],"actuator_force":[0.016079085205547017,-19.83239472468813,-21.764028269105438,-2.3462121312073805,0.0009025911489288774,0.0005788323748632251,-0.29425956208856435],"issued_joint_targets_rad":[-1.5887161109694632,-1.6088650968134086,1.6777022143062577,-1.639513472469898,-1.570805297394189,-0.01791952033708385],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.5887161109694632,-1.6088650968134086,1.6777022143062577,-1.639513472469898,-1.570805297394189,-0.01791952033708385],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5199999999998335,"qpos":[-1.5886055197867623,-1.6095740220474832,1.6551913618870957,-1.6159498061663176,-1.5708113783318678,-0.017815356017077733,0.002940788962993371,0.0001566069312307053,0.00319973091340454,-0.0034373168285690594,0.0029407484851737085,0.00015634252965181236,0.0032030532622754054,-0.003446235567155001,-0.125462794396386,0.4773124477349041,0.29989224457978353,1.0,1.3151354067516043e-13,-1.710708098671426e-11,-6.614484885431093e-15],"qvel":[-0.0005822296512675842,0.004777262799767992,0.11446201520991062,-0.11841398644272734,2.8615523541811727e-05,-0.0005261110535917829,9.361890913141636e-06,-1.8798880143089075e-06,1.4729113015582325e-05,-2.374084366415499e-06,9.725146788701088e-06,2.2361997725407884e-07,2.2857976735527407e-05,-9.46978978860746e-07,4.907480460966591e-11,3.7730019701279427e-13,7.646548563349192e-15,1.3217130641338758e-11,-1.7188409362853838e-09,-2.909611254527107e-13],"joint_position_rad":[-1.5886055197867623,-1.6095740220474832,1.6551913618870957,-1.6159498061663176,-1.5708113783318678,-0.017815356017077733],"joint_velocity_rad_s":[-0.0005822296512675842,0.004777262799767992,0.11446201520991062,-0.11841398644272734,2.8615523541811727e-05,-0.0005261110535917829],"linkage_position_rad":[0.002940788962993371,0.0001566069312307053,0.00319973091340454,-0.0034373168285690594,0.0029407484851737085,0.00015634252965181236,0.0032030532622754054,-0.003446235567155001],"tcp_position_m":[-0.12551603203443926,0.4773080617608241,0.3139583472787913],"tcp_quaternion_wxyz":[0.00016646783630290071,0.7071045819523244,0.707108942337571,-0.000161668578224404],"object_position_m":[-0.125462794396386,0.4773124477349041,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3151354067516043e-13,-1.710708098671426e-11,-6.614484885431093e-15],"object_linear_velocity_m_s":[4.907480460966591e-11,3.7730019701279427e-13,7.646548563349192e-15],"object_angular_velocity_rad_s":[1.3217130641325976e-11,-1.718840936285384e-09,-2.9096112545259936e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313479556931081,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887147018590062,-1.6185087059159575,1.6672438765712432,-1.6443373957644651,-1.5708038783867566,-0.017919521863578432,0.0],"actuator_force":[0.01452771601952918,-19.780272856855845,-21.679776715669504,-2.3523961548009993,0.0008884202014769471,0.0005281821088285454,-0.2941723075968632],"issued_joint_targets_rad":[-1.588717038206423,-1.6088170717097319,1.677666344540008,-1.6395371728017822,-1.570804417183597,-0.017920471073452578],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.588717038206423,-1.6088170717097319,1.677666344540008,-1.6395371728017822,-1.570804417183597,-0.017920471073452578],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5399999999998313,"qpos":[-1.5886164173525361,-1.609480731867701,1.6573594725409477,-1.618199594226656,-1.5708107581849653,-0.017825427022684442,0.0029408816349582824,0.00015657655426454703,0.003199913216617817,-0.003437287188397177,0.00294084528268317,0.0001563388649516608,0.0032033413528621928,-0.0034461840984233594,-0.12546279439578312,0.4773124477349087,0.29989224457978353,1.0,1.3722944682609945e-13,-1.7849144488227345e-11,-7.718169626421182e-15],"qvel":[-0.0005300953153794757,0.004432935167180433,0.1032563659173105,-0.10722893081772329,3.0063867939748925e-05,-0.00048004614014628773,5.571761488810064e-07,-1.657203875353334e-06,5.319117553932659e-06,5.296998476704299e-06,8.675597430869246e-07,1.5367145847386527e-07,1.2334290330577522e-05,6.54714360180416e-06,2.1847990462836824e-11,1.6797098118444854e-13,7.646548563349192e-15,-4.938606835743836e-12,6.424098546222052e-10,-3.152322333179347e-14],"joint_position_rad":[-1.5886164173525361,-1.609480731867701,1.6573594725409477,-1.618199594226656,-1.5708107581849653,-0.017825427022684442],"joint_velocity_rad_s":[-0.0005300953153794757,0.004432935167180433,0.1032563659173105,-0.10722893081772329,3.0063867939748925e-05,-0.00048004614014628773],"linkage_position_rad":[0.0029408816349582824,0.00015657655426454703,0.003199913216617817,-0.003437287188397177,0.00294084528268317,0.0001563388649516608,0.0032033413528621928,-0.0034461840984233594],"tcp_position_m":[-0.12551107428093786,0.4773046550432409,0.31307322215297073],"tcp_quaternion_wxyz":[0.00017027492509948827,0.7071048732449877,0.7071086491214934,-0.00016606389104534318],"object_position_m":[-0.12546279439578312,0.4773124477349087,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3722944682609945e-13,-1.7849144488227345e-11,-7.718169626421182e-15],"object_linear_velocity_m_s":[2.1847990462836824e-11,1.6797098118444854e-13,7.646548563349192e-15],"object_angular_velocity_rad_s":[-4.938606835732794e-12,6.424098546222053e-10,-3.1523223331778187e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313475543334067,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887158889587876,-1.6184606943842819,1.667208913524818,-1.6443613897076883,-1.57080299614882,-0.017920472462053656,0.0],"actuator_force":[0.013094913648274087,-19.73309910003445,-21.6036643991838,-2.3580046587437664,0.0008746312787479837,0.0004818943300222145,-0.29409346956153243],"issued_joint_targets_rad":[-1.588717870704665,-1.608778618523498,1.6776385347499538,-1.6395582335633034,-1.5708036260246883,-0.017921324965985905],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.588717870704665,-1.608778618523498,1.6776385347499538,-1.6395582335633034,-1.5708036260246883,-0.017921324965985905],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.559999999999829,"qpos":[-1.588626359830193,-1.6093946298930515,1.6593157458641694,-1.6202368548819055,-1.5708101175932663,-0.017834614996386063,0.0029408222995656215,0.0001565492710698471,0.003199934806826983,-0.0034371247456693003,0.0029407896250046297,0.0001563354359265368,0.0032034574664757762,-0.0034460020628775,-0.1254627943951542,0.4773124477349136,0.29989224457978353,1.0,1.4812077018649472e-13,-1.926730177698008e-11,-9.130567715109178e-15],"qvel":[-0.0004823143436886161,0.0040874921263543106,0.09316837735039575,-0.09709830939931174,3.095908960364808e-05,-0.00043795223680788214,-5.967601388057272e-06,-1.4636226515785004e-06,-1.7350286849731367e-06,1.08811946795873e-05,-5.701651739455367e-06,9.966679382488366e-08,4.335634560771142e-06,1.197877368232935e-05,2.429182358317674e-11,1.867475120113997e-13,7.64377300578763e-15,-4.006487761910244e-12,5.210767583757059e-10,-5.755338306784819e-14],"joint_position_rad":[-1.588626359830193,-1.6093946298930515,1.6593157458641694,-1.6202368548819055,-1.5708101175932663,-0.017834614996386063],"joint_velocity_rad_s":[-0.0004823143436886161,0.0040874921263543106,0.09316837735039575,-0.09709830939931174,3.095908960364808e-05,-0.00043795223680788214],"linkage_position_rad":[0.0029408222995656215,0.0001565492710698471,0.003199934806826983,-0.0034371247456693003,0.0029407896250046297,0.0001563354359265368,0.0032034574664757762,-0.0034460020628775],"tcp_position_m":[-0.12550656164037663,0.47730202968262775,0.31227447101952777],"tcp_quaternion_wxyz":[0.00017181861800432376,0.7071051396138359,0.7071083818927426,-0.00016812818475277037],"object_position_m":[-0.1254627943951542,0.4773124477349136,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4812077018649472e-13,-1.926730177698008e-11,-9.130567715109178e-15],"object_linear_velocity_m_s":[2.429182358317674e-11,1.867475120113997e-13,7.64377300578763e-15],"object_angular_velocity_rad_s":[-4.006487761898511e-12,5.21076758375706e-10,-5.755338306787202e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313473241139437,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588716933429143,-1.6184223418436379,1.66718196679647,-1.6443827031496034,-1.5708022028892372,-0.017921326235677087,0.0],"actuator_force":[0.011778539575061586,-19.69042075171501,-21.534909075557152,-2.363093193917848,0.0008614430541911133,0.0004396040352769859,-0.294022249962875],"issued_joint_targets_rad":[-1.5887186187496216,-1.6087479079076732,1.6776171470858274,-1.6395769596065812,-1.570802914452495,-0.017922092487902285],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5887186187496216,-1.6087479079076732,1.6776171470858274,-1.6395769596065812,-1.570802914452495,-0.017922092487902285],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.579999999999827,"qpos":[-1.588635423016545,-1.6093156005059617,1.661081234352759,-1.6220816250344683,-1.5708094664368994,-0.017842996253500432,0.002940651544268046,0.0001565247543301285,0.0031998371270458414,-0.0034368669039611917,0.002940622152720682,0.0001563322477849968,0.0032034443466260306,-0.0034457266215705603,-0.12546279439453495,0.4773124477349184,0.29989224457978353,1.0,1.5466797461490257e-13,-2.0120331364689777e-11,-1.0711335224007409e-14],"qvel":[-0.00043859225155199084,0.0037486085076374196,0.08408280434569998,-0.08792300574143137,3.1396446366708944e-05,-0.0003994967534718103,-1.0690557769133417e-05,-1.2949451127748338e-06,-6.922202002606575e-06,1.4822695618154226e-05,-1.0462044629758179e-05,5.8320547990402056e-08,-1.654639536841683e-06,1.5788463897318327e-05,2.7137623148840654e-11,2.0861211188022505e-13,7.650711899691537e-15,-2.219612488967682e-12,2.886674079486124e-10,-1.0507784964951643e-13],"joint_position_rad":[-1.588635423016545,-1.6093156005059617,1.661081234352759,-1.6220816250344683,-1.5708094664368994,-0.017842996253500432],"joint_velocity_rad_s":[-0.00043859225155199084,0.0037486085076374196,0.08408280434569998,-0.08792300574143137,3.1396446366708944e-05,-0.0003994967534718103],"linkage_position_rad":[0.002940651544268046,0.0001565247543301285,0.0031998371270458414,-0.0034368669039611917,0.002940622152720682,0.0001563322477849968,0.0032034443466260306,-0.0034457266215705603],"tcp_position_m":[-0.1255024579423691,0.47730005117694696,0.3115536744408237],"tcp_quaternion_wxyz":[0.00017149527459749386,0.7071053807916179,0.7071081407619382,-0.00016826498779275365],"object_position_m":[-0.12546279439453495,0.4773124477349184,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5466797461490257e-13,-2.0120331364689777e-11,-1.0711335224007409e-14],"object_linear_velocity_m_s":[2.7137623148840654e-11,2.0861211188022505e-13,7.650711899691537e-15],"object_angular_velocity_rad_s":[-2.2196124889572696e-12,2.886674079486125e-10,-1.0507784964953991e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313472245114389,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887178543727702,-1.6183917895960314,1.667161394172354,-1.6444016490312097,-1.5708014891767854,-0.01792209365407307,0.0],"actuator_force":[0.010574188170267007,-19.65182158319476,-21.47280209909013,-2.3677114242275366,0.0008489854202480274,0.0004009750608613416,-0.29395792183744196],"issued_joint_targets_rad":[-1.5887192914036699,-1.608723452948269,1.6776008638611735,-1.639593621496219,-1.570802274085774,-0.01792278287381312],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5887192914036699,-1.608723452948269,1.6776008638611735,-1.639593621496219,-1.570802274085774,-0.01792278287381312],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.5999999999998247,"qpos":[-1.5886436784087377,-1.6092434091876344,1.6626748335491655,-1.6237520582972071,-1.570808812837107,-0.017850640684621864,0.002940401358244315,0.00015650271327772924,0.0031996529362393325,-0.0034365430152771075,0.0029403749010758185,0.0001563292991872027,0.003203335886276142,-0.0034453869122747236,-0.125462794393932,0.477312447734923,0.29989224457978353,1.0,1.558557739327232e-13,-2.0275044264463877e-11,-1.2429282007860362e-14],"qvel":[-0.0003986389520991838,0.003421706854718694,0.07589696674755,-0.0796131903105505,3.145754593838336e-05,-0.00036437330188497224,-1.399719427902257e-05,-1.1476128173873696e-06,-1.0637099902004073e-05,1.7479137230855667e-05,-1.3800300928612331e-05,2.7016990737495014e-08,-6.054253345549531e-06,1.8330718030395282e-05,3.107160651909292e-11,2.3884616897076347e-13,7.656263014814662e-15,6.983347464771814e-13,-9.083931329573568e-11,-1.9184513831178624e-13],"joint_position_rad":[-1.5886436784087377,-1.6092434091876344,1.6626748335491655,-1.6237520582972071,-1.570808812837107,-0.017850640684621864],"joint_velocity_rad_s":[-0.0003986389520991838,0.003421706854718694,0.07589696674755,-0.0796131903105505,3.145754593838336e-05,-0.00036437330188497224],"linkage_position_rad":[0.002940401358244315,0.00015650271327772924,0.0031996529362393325,-0.0034365430152771075,0.0029403749010758185,0.0001563292991872027,0.003203335886276142,-0.0034453869122747236],"tcp_position_m":[-0.12549872913431231,0.47729860657464496,0.31090323183665663],"tcp_quaternion_wxyz":[0.00016964686598473493,0.707105597258905,0.7071079250830302,-0.00016682277776506666],"object_position_m":[-0.125462794393932,0.477312447734923,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.558557739327232e-13,-2.0275044264463877e-11,-1.2429282007860362e-14],"object_linear_velocity_m_s":[3.107160651909292e-11,2.3884616897076347e-13,7.656263014814662e-15],"object_angular_velocity_rad_s":[6.983347464827027e-13,-9.083931329573563e-11,-1.9184513831178438e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313472232515703,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887186680481555,-1.6183675285107055,1.6671458756542936,-1.6444185042545463,-1.5708008466579482,-0.017922783948998832,0.0],"actuator_force":[0.009476302004259196,-19.616921388029823,-21.416702488763804,-2.3719039476144417,0.0008373349855901324,0.00036569800001373665,-0.2938998254899685],"issued_joint_targets_rad":[-1.588719896669764,-1.6087040457943298,1.6775886257820374,-1.6396084585025636,-1.5708016974894978,-0.017923404284134484],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.588719896669764,-1.6087040457943298,1.6775886257820374,-1.6396084585025636,-1.5708016974894978,-0.017923404284134484],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6199999999998225,"qpos":[-1.588651193050703,-1.6091777401917535,1.664113514759583,-1.6252646012979437,-1.5708081634124869,-0.017857612267863258,0.002940096806306602,0.00015648288942806987,0.0031994079910171464,-0.003436175958070276,0.002940072974960299,0.00015632658424405646,0.003203158832954308,-0.0034450056242696595,-0.12546279439335337,0.4773124477349274,0.29989224457978353,1.0,1.4968621687011852e-13,-1.9474072958816817e-11,-1.4198430789433043e-14],"qvel":[-0.0003621729900365541,0.0031104640250507578,0.06851925874688038,-0.07208744990500306,3.1212168471615495e-05,-0.00033229993711956276,-1.6197680004819358e-05,-1.0186251575519406e-06,-1.3197594274701056e-05,1.9137818008627753e-05,-1.6027562031935817e-05,3.652670393919045e-09,-9.200139339691122e-06,1.9890215311531263e-05,3.721723282019367e-11,2.8603396702641926e-13,7.653487457253097e-15,5.142391430480805e-12,-6.695175340649889e-10,-3.5026019326483325e-13],"joint_position_rad":[-1.588651193050703,-1.6091777401917535,1.664113514759583,-1.6252646012979437,-1.5708081634124869,-0.017857612267863258],"joint_velocity_rad_s":[-0.0003621729900365541,0.0031104640250507578,0.06851925874688038,-0.07208744990500306,3.1212168471615495e-05,-0.00033229993711956276],"linkage_position_rad":[0.002940096806306602,0.00015648288942806987,0.0031994079910171464,-0.003436175958070276,0.002940072974960299,0.00015632658424405646,0.003203158832954308,-0.0034450056242696595],"tcp_position_m":[-0.12549534334772577,0.4772976010333125,0.31031628218734586],"tcp_quaternion_wxyz":[0.00016656757937233982,0.7071057900156028,0.7071077336957265,-0.00016410162864797538],"object_position_m":[-0.12546279439335337,0.4773124477349274,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4968621687011852e-13,-1.9474072958816817e-11,-1.4198430789433043e-14],"object_linear_velocity_m_s":[3.721723282019367e-11,2.8603396702641926e-13,7.653487457253097e-15],"object_angular_velocity_rad_s":[5.142391430475435e-12,-6.695175340649889e-10,-3.5026019326498173e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931347294732556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887193883307291,-1.6183483341337948,1.6671343511842334,-1.6444335130524876,-1.570800267920295,-0.017923405278606027,0.0],"actuator_force":[0.008478635962546832,-19.58537349410244,-21.366030649451204,-2.3757108867715715,0.0008265292487976694,0.00033348834057100873,-0.29384736285316126],"issued_joint_targets_rad":[-1.5887204416301788,-1.6086887059316564,1.6775795821057236,-1.6396216816966043,-1.5708011780571662,-0.017923963944755577],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.5887204416301788,-1.6086887059316564,1.6775795821057236,-1.6396216816966043,-1.5708011780571662,-0.017923963944755577],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6399999999998203,"qpos":[-1.5886580295020436,-1.6091182255524754,1.6654125305806444,-1.6266341535186564,-1.5708075235004908,-0.017863969545470607,0.0029397573892806436,0.00015646505273314782,0.003199122414531062,-0.003435783418784657,0.002939735910162292,0.00015632409392155345,0.003202934177855146,-0.00344460027659539,-0.12546279439281127,0.4773124477349316,0.29989224457978353,1.0,1.3309243677271771e-13,-1.7316428207505637e-11,-1.5827820349600628e-14],"qvel":[-0.0003289244092346497,0.0028172145417602987,0.06186785559011167,-0.065272000409913,3.0719857637653226e-05,-0.00030301745445767385,-1.754098206665827e-05,-9.05446518803331e-07,-1.4859121892657876e-05,2.0028917793512676e-05,-1.739359692555174e-05,-1.3462127375228051e-08,-1.1363533079834222e-05,2.0694939996328587e-05,4.742498779569588e-11,3.6460207969930017e-13,7.650711899691535e-15,1.1699705124484926e-11,-1.5212426627185705e-09,-6.394858197446626e-13],"joint_position_rad":[-1.5886580295020436,-1.6091182255524754,1.6654125305806444,-1.6266341535186564,-1.5708075235004908,-0.017863969545470607],"joint_velocity_rad_s":[-0.0003289244092346497,0.0028172145417602987,0.06186785559011167,-0.065272000409913,3.0719857637653226e-05,-0.00030301745445767385],"linkage_position_rad":[0.0029397573892806436,0.00015646505273314782,0.003199122414531062,-0.003435783418784657,0.002939735910162292,0.00015632409392155345,0.003202934177855146,-0.00344460027659539],"tcp_position_m":[-0.12549227090584167,0.47729695494197066,0.30978663235326953],"tcp_quaternion_wxyz":[0.00016250969361849359,0.7071059604054456,0.707107565109185,-0.00016035913047063235],"object_position_m":[-0.12546279439281127,0.4773124477349316,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3309243677271771e-13,-1.7316428207505637e-11,-1.5827820349600628e-14],"object_linear_velocity_m_s":[4.742498779569588e-11,3.6460207969930017e-13,7.650711899691535e-15],"object_angular_velocity_rad_s":[1.1699705124458916e-11,-1.5212426627185707e-09,-6.394858197444002e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313474187387315,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887200270946595,-1.6183332137443747,1.6671259704048087,-1.6444468903805463,-1.5707997463755583,-0.017923964866988603,0.0],"actuator_force":[0.007574578461571946,-19.556862200502565,-21.320262587716115,-2.3791683899536338,0.0008165767025047899,0.0003040846867694569,-0.2937999920771857],"issued_joint_targets_rad":[-1.5887209325646336,-1.6086766379715276,1.6775730503990796,-1.6396334769733716,-1.570800709909645,-0.017924468266150205],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.5887209325646336,-1.6086766379715276,1.6775730503990796,-1.6396334769733716,-1.570800709909645,-0.017924468266150205],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.659999999999818,"qpos":[-1.5886642458968752,-1.6090644672069996,1.666585596769156,-1.6278742122244045,-1.570806897348765,-0.017869766066241508,0.0029393981483725965,0.00015644899821760794,0.0031988118083617965,-0.003435378931332889,0.00293937877846639,0.00015632181710380675,0.003202678284811432,-0.003444184254750328,-0.12546279439222305,0.4773124477349361,0.29989224457978353,1.0,1.3348090289283088e-13,-1.7363851726666544e-11,-1.8253542655793514e-14],"qvel":[-0.00029863663633826216,0.0025432709739195837,0.05586958829469456,-0.05909997410049746,3.00313013010328e-05,-0.000276287755421151,-1.822640048389121e-05,-8.059287787457851e-07,-1.5826445403687854e-05,2.0336290774308595e-05,-1.8098367818454305e-05,-2.568244254929225e-08,-1.2762313560355704e-05,2.092690285153119e-05,2.1361478111453823e-11,1.6421096768993674e-13,7.64654856334919e-15,-4.9831781952835635e-12,6.48360576236289e-10,-6.928308211317305e-14],"joint_position_rad":[-1.5886642458968752,-1.6090644672069996,1.666585596769156,-1.6278742122244045,-1.570806897348765,-0.017869766066241508],"joint_velocity_rad_s":[-0.00029863663633826216,0.0025432709739195837,0.05586958829469456,-0.05909997410049746,3.00313013010328e-05,-0.000276287755421151],"linkage_position_rad":[0.0029393981483725965,0.00015644899821760794,0.0031988118083617965,-0.003435378931332889,0.00293937877846639,0.00015632181710380675,0.003202678284811432,-0.003444184254750328],"tcp_position_m":[-0.12548948428826975,0.4772966015113698,0.3093086922913004],"tcp_quaternion_wxyz":[0.00015768879656254838,0.7071061099824004,0.7071074176398399,-0.00015581565090174893],"object_position_m":[-0.12546279439222305,0.4773124477349361,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3348090289283088e-13,-1.7363851726666544e-11,-1.8253542655793514e-14],"object_linear_velocity_m_s":[2.1361478111453823e-11,1.6421096768993674e-13,7.64654856334919e-15],"object_angular_velocity_rad_s":[-4.983178195257487e-12,6.483605762362893e-10,-6.928308211313988e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313475793940468,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887205945294975,-1.6183213631703135,1.667120052104407,-1.6444588251743235,-1.5707992761591285,-0.017924469123197527,0.0],"actuator_force":[0.00675738929066938,-19.53110031619599,-21.278924647376243,-2.382309064909691,0.0008074646881368608,0.0002772470641065894,-0.2937572225004376],"issued_joint_targets_rad":[-1.5887213750512346,-1.6086671972132343,1.6775684840306855,-1.6396440079028802,-1.5708002878078724,-0.017924922945329318],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5887213750512346,-1.6086671972132343,1.6775684840306855,-1.6396440079028802,-1.5708002878078724,-0.017924922945329318],"gripper_0_255":0.0,"phase":"descend"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.679999999999816,"qpos":[-1.5886698960676038,-1.609016053664904,1.6676450534717435,-1.6289970038799602,-1.570806288280371,-0.01787505079536972,0.0029390305606899004,0.0001564345430469334,0.0031984881546032995,-0.0034349727192170055,0.0029390130837902784,0.00015631974139833428,0.003202403806820606,-0.003443767650421001,-0.12546279439162203,0.4773124477349407,0.29989224457978353,1.0,1.4084415614112004e-13,-1.832272461465513e-11,-2.1357782545111296e-14],"qvel":[-0.0002710676140381178,0.002289177517446485,0.050458961780902534,-0.05351077395106897,2.9189529915854908e-05,-0.00025189229186043104,-1.8412977700564293e-05,-7.182469776666984e-07,-1.6263243039095793e-05,2.020627021706695e-05,-1.830146478763264e-05,-3.409269151724387e-08,-1.3571067848886287e-05,2.0730884398675143e-05,2.317223658994306e-11,1.781230213734276e-13,7.653487457253097e-15,-3.935473017585366e-12,5.119499417041973e-10,-1.2649377647105083e-13],"joint_position_rad":[-1.5886698960676038,-1.609016053664904,1.6676450534717435,-1.6289970038799602,-1.570806288280371,-0.01787505079536972],"joint_velocity_rad_s":[-0.0002710676140381178,0.002289177517446485,0.050458961780902534,-0.05351077395106897,2.9189529915854908e-05,-0.00025189229186043104],"linkage_position_rad":[0.0029390305606899004,0.0001564345430469334,0.0031984881546032995,-0.0034349727192170055,0.0029390130837902784,0.00015631974139833428,0.003202403806820606,-0.003443767650421001],"tcp_position_m":[-0.1254869580649029,0.4772964847534698,0.30887741651335954],"tcp_quaternion_wxyz":[0.00015228841065408473,0.7071062404102169,0.7071072895134314,-0.00015065900428664047],"object_position_m":[-0.12546279439162203,0.4773124477349407,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4084415614112004e-13,-1.832272461465513e-11,-2.1357782545111296e-14],"object_linear_velocity_m_s":[2.317223658994306e-11,1.781230213734276e-13,7.653487457253097e-15],"object_angular_velocity_rad_s":[-3.935473017558862e-12,5.119499417041975e-10,-1.264937764710577e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931347764311661,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588721099403242,-1.6183121315756348,1.6671160514641512,-1.6444694833848579,-1.570798852043328,-0.01792492374311586,0.0],"actuator_force":[0.006020374339186674,-19.507826828440102,-21.241588727545604,-2.385162357341869,0.0007991655299974809,0.0002527553129745286,-0.29371861001156796],"issued_joint_targets_rad":[-1.5887217740530755,-1.6086598615567762,1.6775654459008424,-1.639653418355494,-1.570799907077262,-0.017925333053422306],"issued_gripper_0_255":0.0,"command":{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.5887217740530755,-1.6086598615567762,1.6775654459008424,-1.639653418355494,-1.570799907077262,-0.017925333053422306],"gripper_0_255":0.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.6999999999998137,"qpos":[-1.5886750297141166,-1.608972572376016,1.6686020083983706,-1.630013603314964,-1.570805698836367,-0.01787986849345148,0.0029386632644963313,0.0001564215239692048,0.003198160546880189,-0.003434572376812313,0.002938647487959634,0.00015631785374253132,0.003202120429303619,-0.0034433579407132982,-0.12546279439103727,0.47731244773494524,0.29989224457978353,1.0,1.4548927276833464e-13,-1.8929818012636998e-11,-2.4832092613814086e-14],"qvel":[-0.000245990364118604,0.0020549098698541823,0.045577295850912455,-0.04844948834552301,2.82309573795594e-05,-0.00022963059337637338,-1.822716966741689e-05,-6.408464690072049e-07,-1.6299924341424963e-05,1.9754844853574437e-05,-1.812979735388693e-05,-3.9558628610349784e-08,-1.3929295361630915e-05,2.0221563114155994e-05,2.5560676759198996e-11,1.9645181219251216e-13,7.65487523603388e-15,-2.1709745800256374e-12,2.8227298394687444e-10,-2.309467407957428e-13],"joint_position_rad":[-1.5886750297141166,-1.608972572376016,1.6686020083983706,-1.630013603314964,-1.570805698836367,-0.01787986849345148],"joint_velocity_rad_s":[-0.000245990364118604,0.0020549098698541823,0.045577295850912455,-0.04844948834552301,2.82309573795594e-05,-0.00022963059337637338],"linkage_position_rad":[0.0029386632644963313,0.0001564215239692048,0.003198160546880189,-0.003434572376812313,0.002938647487959634,0.00015631785374253132,0.003202120429303619,-0.0034433579407132982],"tcp_position_m":[-0.12548466880852055,0.4772965577850466,0.30848825119293966],"tcp_quaternion_wxyz":[0.00014646408782854152,0.7071063533880907,0.7071071789392142,-0.00014504858839431789],"object_position_m":[-0.12546279439103727,0.47731244773494524,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4548927276833464e-13,-1.8929818012636998e-11,-2.4832092613814086e-14],"object_linear_velocity_m_s":[2.5560676759198996e-11,1.9645181219251216e-13,7.65487523603388e-15],"object_angular_velocity_rad_s":[-2.170974580002875e-12,2.822729839468746e-10,-2.3094674079579975e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313479639035356,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588721549281326,-1.6183049927574429,1.6671135335970615,-1.6444790107491556,-1.5707984693623005,-0.017925333796978162,0.0],"actuator_force":[0.00535701122817045,-19.486804710795695,-21.207867942983285,-2.387754882543504,0.0007916412952226892,0.0002304075742980416,-0.29368375278769177],"issued_joint_targets_rad":[-1.588722133992779,-1.6086542086017868,1.677563587207354,-1.6396618348797205,-1.5707995635420262,-0.017925703111167892],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.588722133992779,-1.6086542086017868,1.677563587207354,-1.6396618348797205,-1.5707995635420262,-0.017925703111167892],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7199999999998115,"qpos":[-1.5886797332222906,-1.6089342987261839,1.669465614540796,-1.630934749278847,-1.5708051305295023,-0.01788426006846141,0.005756613353818973,0.00010972721280809851,0.006084445369542899,-0.005989478800932752,0.005756598027705657,0.00010960297055589367,0.006087243834270107,-0.005992801329126732,-0.12546279439043798,0.4773124477349498,0.29989224457978353,1.0,1.542565334063698e-13,-2.0074086581727317e-11,-2.914704977476504e-14],"qvel":[-0.00022370115095230567,0.0017925609954252439,0.041122574046902345,-0.04390687495064391,2.703649370912699e-05,-0.00020931741088093495,0.2709852450000271,-0.0006116395263949018,0.2704160707214624,-0.25557068863022503,0.27098436777473944,-0.0006192063751331267,0.27038807421036987,-0.25544059148711323,2.977648144091623e-11,2.2880978077403484e-13,7.647936342129973e-15,3.276834940550267e-13,-4.292636117889927e-11,-4.2165081796837197e-13],"joint_position_rad":[-1.5886797332222906,-1.6089342987261839,1.669465614540796,-1.630934749278847,-1.5708051305295023,-0.01788426006846141],"joint_velocity_rad_s":[-0.00022370115095230567,0.0017925609954252439,0.041122574046902345,-0.04390687495064391,2.703649370912699e-05,-0.00020931741088093495],"linkage_position_rad":[0.005756613353818973,0.00010972721280809851,0.006084445369542899,-0.005989478800932752,0.005756598027705657,0.00010960297055589367,0.006087243834270107,-0.005992801329126732],"tcp_position_m":[-0.12548256998122861,0.4772971062758856,0.30813789736323777],"tcp_quaternion_wxyz":[0.00013957022086273543,0.7071064651164035,0.7071070699546956,-0.00013831421367944242],"object_position_m":[-0.12546279439043798,0.4773124477349498,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.542565334063698e-13,-2.0074086581727317e-11,-2.914704977476504e-14],"object_linear_velocity_m_s":[2.977648144091623e-11,2.2880978077403484e-13,7.647936342129973e-15],"object_angular_velocity_rad_s":[3.276834940694529e-13,-4.292636117889916e-11,-4.216508179684594e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09285642184701251,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887219516233817,-1.618299555744282,1.6671120994505746,-1.6444875843452946,-1.5707981239112427,-0.01792570380361836,10.0],"actuator_force":[0.005043658198701451,-19.44753843436638,-21.15605979920383,-2.3857300381594087,0.0007996597588544319,0.00020987350961654272,-0.14825363295006433],"issued_joint_targets_rad":[-1.5887224588215134,-1.6086499092304005,1.677562642146812,-1.6396693696951563,-1.5707992533844604,-0.01792603714897828],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.5887224588215134,-1.6086499092304005,1.677562642146812,-1.6396693696951563,-1.5707992533844604,-0.01792603714897828],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7399999999998093,"qpos":[-1.588683960013298,-1.6089003675944942,1.670245705186106,-1.6317688250177904,-1.5708045864645468,-0.017888262880089954,0.013709313763445152,0.00011234983470673948,0.013992865426323997,-0.01356092270119157,0.013709298113480182,0.00011224100376819219,0.013995739359719764,-0.013564454431803829,-0.12546279438984984,0.4773124477349543,0.29989224457978353,1.0,1.537757472796165e-13,-2.0013672988814522e-11,-3.366651560738342e-14],"qvel":[-0.0002017746991166155,0.0016045204556013532,0.037157775873734915,-0.03974701523975278,2.607554027401236e-05,-0.00019078871816196724,0.5048491490932262,0.00035016885177706044,0.5017000000026259,-0.4813375791401815,0.504849523404821,0.00035338830373195343,0.5017139253301807,-0.48139111976671045,3.599232269850293e-11,2.76543835030049e-13,7.646548563349193e-15,4.288234215400215e-12,-5.583417982503461e-10,-7.698289037174383e-13],"joint_position_rad":[-1.588683960013298,-1.6089003675944942,1.670245705186106,-1.6317688250177904,-1.5708045864645468,-0.017888262880089954],"joint_velocity_rad_s":[-0.0002017746991166155,0.0016045204556013532,0.037157775873734915,-0.03974701523975278,2.607554027401236e-05,-0.00019078871816196724],"linkage_position_rad":[0.013709313763445152,0.00011234983470673948,0.013992865426323997,-0.01356092270119157,0.013709298113480182,0.00011224100376819219,0.013995739359719764,-0.013564454431803829],"tcp_position_m":[-0.1254806897690564,0.4772977467814649,0.3078219461618443],"tcp_quaternion_wxyz":[0.0001324116954384707,0.7071065457302788,0.7071069920570994,-0.00013128783934363225],"object_position_m":[-0.12546279438984984,0.4773124477349543,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.537757472796165e-13,-2.0013672988814522e-11,-3.366651560738342e-14],"object_linear_velocity_m_s":[3.599232269850293e-11,2.76543835030049e-13,7.646548563349193e-15],"object_angular_velocity_rad_s":[4.288234215393434e-12,-5.583417982503462e-10,-7.698289037175105e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09213095812209272,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887223101783956,-1.618295535253966,1.6671114553150217,-1.6444953359944747,-1.5707978119512087,-0.017926037792766365,20.0],"actuator_force":[0.004009549451438943,-19.432143501184783,-21.131610091662424,-2.3885539643669063,0.0007797026416938024,0.00019141547799073066,-0.14491395633650317],"issued_joint_targets_rad":[-1.588722752069808,-1.6086466752721622,1.67756237815196,-1.6396761203257848,-1.570798973355292,-0.017926338788493475],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.588722752069808,-1.6086466752721622,1.67756237815196,-1.6396761203257848,-1.570798973355292,-0.017926338788493475],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.759999999999807,"qpos":[-1.5886877902917609,-1.6088699772387243,1.6709506736958122,-1.6325238520510998,-1.5708040649494988,-0.01789191109185047,0.02588154960642842,0.00011848545044823296,0.026091367061626777,-0.025161779054079084,0.025881537894708203,0.00011840874358776299,0.026094452701366146,-0.02516611612293954,-0.12546279438928676,0.4773124477349586,0.29989224457978353,1.0,1.4167805800056429e-13,-1.8439754654688656e-11,-3.798645690811654e-14],"qvel":[-0.00018303247189189266,0.0014378096785327556,0.03358015967072809,-0.035979592027158044,2.4947316271337133e-05,-0.00017388614432813386,0.6964567469800145,0.00025673854195817463,0.6923948352340729,-0.6636486354040911,0.6964568153029603,0.0002573388013870863,0.6924027624599388,-0.6636773527513101,4.565502580483273e-11,3.5079849070360863e-13,7.643773005787631e-15,1.034069379895195e-11,-1.3457524319737939e-09,-1.405506809784836e-12],"joint_position_rad":[-1.5886877902917609,-1.6088699772387243,1.6709506736958122,-1.6325238520510998,-1.5708040649494988,-0.01789191109185047],"joint_velocity_rad_s":[-0.00018303247189189266,0.0014378096785327556,0.03358015967072809,-0.035979592027158044,2.4947316271337133e-05,-0.00017388614432813386],"linkage_position_rad":[0.02588154960642842,0.00011848545044823296,0.026091367061626777,-0.025161779054079084,0.025881537894708203,0.00011840874358776299,0.026094452701366146,-0.02516611612293954],"tcp_position_m":[-0.1254789921006641,0.4772983899834474,0.3075366910608406],"tcp_quaternion_wxyz":[0.00012539532515777683,0.707106611424733,0.7071069288884019,-0.00012439234761966648],"object_position_m":[-0.12546279438928676,0.4773124477349586,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4167805800056429e-13,-1.8439754654688656e-11,-3.798645690811654e-14],"object_linear_velocity_m_s":[4.565502580483273e-11,3.5079849070360863e-13,7.643773005787631e-15],"object_angular_velocity_rad_s":[1.0340693798901544e-11,-1.3457524319737943e-09,-1.4055068097848036e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09101360109771493,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588722630877307,-1.6182926086340965,1.6671114125918596,-1.6445023290091296,-1.570797530190645,-0.01792633938740914,30.0],"actuator_force":[0.003531817664679693,-19.420386662157853,-21.11058607619634,-2.3912792762990875,0.000772647799749393,0.00017446665347797818,-0.14095718647170585],"issued_joint_targets_rad":[-1.588723016875737,-1.6086442796099578,1.677562615954784,-1.6396821726636541,-1.5707987204859029,-0.017926611244525263],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.588723016875737,-1.6086442796099578,1.677562615954784,-1.6396821726636541,-1.5707987204859029,-0.017926611244525263],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.779999999999805,"qpos":[-1.5886912685845904,-1.6088427869020763,1.6715878071861108,-1.633207313623689,-1.5708035675373166,-0.017895235870656775,0.04151141981083796,0.00012264478371563252,0.041634678524418045,-0.0400566814916059,0.04151140868253528,0.00012257528161789826,0.041637888736084115,-0.040061456641635226,-0.1254627943887038,0.4773124477349631,0.29989224457978353,1.0,1.3534785782358982e-13,-1.761549006437155e-11,-4.331787894305608e-14],"qvel":[-0.00016611614439420244,0.0012857420657677707,0.030348794241440977,-0.032569332087094435,2.3781826192928784e-05,-0.000158469606310102,0.8534872717415787,0.00016737829082610366,0.8489636319347874,-0.8134721348620456,0.8534873009791317,0.0001677137689932838,0.8489687980155215,-0.8134891706839292,2.157176147821426e-11,1.6574663202269443e-13,7.647936342129977e-15,-5.282559718742734e-12,6.875354230367105e-10,-1.5227520416241226e-13],"joint_position_rad":[-1.5886912685845904,-1.6088427869020763,1.6715878071861108,-1.633207313623689,-1.5708035675373166,-0.017895235870656775],"joint_velocity_rad_s":[-0.00016611614439420244,0.0012857420657677707,0.030348794241440977,-0.032569332087094435,2.3781826192928784e-05,-0.000158469606310102],"linkage_position_rad":[0.04151141981083796,0.00012264478371563252,0.041634678524418045,-0.0400566814916059,0.04151140868253528,0.00012257528161789826,0.041637888736084115,-0.040061456641635226],"tcp_position_m":[-0.12547745553862594,0.4772990296043413,0.30727913496960746],"tcp_quaternion_wxyz":[0.0001185718656888245,0.7071066669187981,0.7071068757205609,-0.00011767925390631959],"object_position_m":[-0.1254627943887038,0.4773124477349631,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3534785782358982e-13,-1.761549006437155e-11,-4.331787894305608e-14],"object_linear_velocity_m_s":[2.157176147821426e-11,1.6574663202269443e-13,7.647936342129977e-15],"object_angular_velocity_rad_s":[-5.282559718677805e-12,6.875354230367109e-10,-1.5227520416240913e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08956207872879834,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887229180856006,-1.6182905244739667,1.6671118195056929,-1.6445086300613312,-1.570797275672619,-0.01792661180193618,40.0],"actuator_force":[0.00314745573723485,-19.40977197008806,-21.091493057412208,-2.3937250101115524,0.0007677497295617286,0.00015899499130966888,-0.1369942882722146],"issued_joint_targets_rad":[-1.588723256067684,-1.6086425449127764,1.6775632195049826,-1.639687602882818,-1.570798492078915,-0.017926857411432212],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.588723256067684,-1.6086425449127764,1.6775632195049826,-1.639687602882818,-1.570798492078915,-0.017926857411432212],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.7999999999998026,"qpos":[-1.5886944273430783,-1.6088185132083328,1.6721636603180918,-1.6338259963372588,-1.57080309451579,-0.01789826568370419,0.05997499945040801,0.00012521325703509562,0.06000508818140596,-0.057659423033744356,0.05997498884565256,0.00012515009875375559,0.06000837991560741,-0.05766445160930176,-0.12546279438807856,0.47731244773496795,0.29989224457978353,1.0,1.4402289240571256e-13,-1.8743750907436743e-11,-5.100532697496386e-14],"qvel":[-0.00015075322156182046,0.0011471153663982084,0.02742961501668478,-0.029482505533022264,2.2608762206677664e-05,-0.0001444100803350658,0.9821808839308878,9.552663430000428e-05,0.977432743419367,-0.9366382568077333,0.9821809139215817,9.584677059731773e-05,0.9774359934476498,-0.936647214054217,2.3458067917556177e-11,1.8024450846296224e-13,7.645160784568415e-15,-4.381228300067257e-12,5.702210144739456e-10,-2.780157623816145e-13],"joint_position_rad":[-1.5886944273430783,-1.6088185132083328,1.6721636603180918,-1.6338259963372588,-1.57080309451579,-0.01789826568370419],"joint_velocity_rad_s":[-0.00015075322156182046,0.0011471153663982084,0.02742961501668478,-0.029482505533022264,2.2608762206677664e-05,-0.0001444100803350658],"linkage_position_rad":[0.05997499945040801,0.00012521325703509562,0.06000508818140596,-0.057659423033744356,0.05997498884565256,0.00012515009875375559,0.06000837991560741,-0.05766445160930176],"tcp_position_m":[-0.1254760646475226,0.47729966262550755,0.30704659895009073],"tcp_quaternion_wxyz":[0.00011195926539323736,0.7071067136238965,0.7071068311472023,-0.00011116697836966538],"object_position_m":[-0.12546279438807856,0.47731244773496795,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4402289240571256e-13,-1.8743750907436743e-11,-5.100532697496386e-14],"object_linear_velocity_m_s":[2.3458067917556177e-11,1.8024450846296224e-13,7.645160784568415e-15],"object_angular_velocity_rad_s":[-4.3812282999986665e-12,5.702210144739461e-10,-2.780157623816061e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08782458960462551,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887231755602607,-1.6182890910714305,1.667112557091641,-1.644514304443532,-1.5707970457001545,-0.017926857930356196,50.0],"actuator_force":[0.0028048542603755777,-19.400001872754274,-21.07405245957534,-2.395903499834276,0.0007635315970446754,0.00014488470750428917,-0.133033404065376],"issued_joint_targets_rad":[-1.5887234721795962,-1.6086413289672856,1.6775640823943954,-1.6396924783027462,-1.570798285715349,-0.017927079882837364],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5887234721795962,-1.6086413289672856,1.6775640823943954,-1.6396924783027462,-1.570798285715349,-0.017927079882837364],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8199999999998004,"qpos":[-1.588697295450798,-1.6087968915540887,1.6726841474589678,-1.6343860438843187,-1.5708026457963464,-0.017901026520468606,0.08076091401306928,0.00012649357002126132,0.0806953498186046,-0.07748865686568791,0.08076090390522134,0.00012643625149448106,0.0806986890375779,-0.07749379352519006,-0.12546279438746819,0.47731244773497267,0.29989224457978353,1.0,1.4997043928382329e-13,-1.9514666688360743e-11,-5.965358578276017e-14],"qvel":[-0.0001367963921988484,0.0010211541339595598,0.024792195376351973,-0.026688426885950137,2.144187221469755e-05,-0.00013158941056434157,1.087649805012524,3.752786957949804e-05,1.0828622778546053,-1.0379348157888988,1.0876498309477591,3.7810899683462996e-05,1.0828639840840657,-1.0379372631247608,2.5794694787206807e-11,1.9823234395362458e-13,7.645160784568413e-15,-2.776743732961119e-12,3.615223820354056e-10,-5.075848496472985e-13],"joint_position_rad":[-1.588697295450798,-1.6087968915540887,1.6726841474589678,-1.6343860438843187,-1.5708026457963464,-0.017901026520468606],"joint_velocity_rad_s":[-0.0001367963921988484,0.0010211541339595598,0.024792195376351973,-0.026688426885950137,2.144187221469755e-05,-0.00013158941056434157],"linkage_position_rad":[0.08076091401306928,0.00012649357002126132,0.0806953498186046,-0.07748865686568791,0.08076090390522134,0.00012643625149448106,0.0806986890375779,-0.07749379352519006],"tcp_position_m":[-0.12547480577263176,0.47730028661379303,0.30683666384745695],"tcp_quaternion_wxyz":[0.00010556972909235334,0.707106752567475,0.7071067941486351,-0.00010486825666706198],"object_position_m":[-0.12546279438746819,0.47731244773497267,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4997043928382329e-13,-1.9514666688360743e-11,-5.965358578276017e-14],"object_linear_velocity_m_s":[2.5794694787206807e-11,1.9823234395362458e-13,7.645160784568413e-15],"object_angular_velocity_rad_s":[-2.776743732898176e-12,3.6152238203540607e-10,-5.075848496472376e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0858402545828507,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887234065893954,-1.6182881582710753,1.6671135296972048,-1.6445194135119194,-1.5707968378530903,-0.017927080366006216,60.0],"actuator_force":[0.0024962796846921265,-19.390995087557258,-21.058113674067044,-2.397842125205443,0.000759784406682229,0.00013201828762809953,-0.12905907571595066],"issued_joint_targets_rad":[-1.5887236674846288,-1.608640517622088,1.6775651215773448,-1.6396968584616622,-1.5707980992245507,-0.01792728098623691],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5887236674846288,-1.608640517622088,1.6775651215773448,-1.6396968584616622,-1.5707980992245507,-0.01792728098623691],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8399999999997982,"qpos":[-1.58869989923579,-1.6087776735799062,1.6731546080100135,-1.6348930168392601,-1.5708022210692656,-0.01790354210368689,0.10345005761639038,0.00012673902001031286,0.10328967779867244,-0.09914949602244325,0.10345004796038244,0.00012668695637023985,0.10329303789495292,-0.0991546266165165,-0.12546279438687602,0.47731244773497716,0.29989224457978353,1.0,1.5180316249699877e-13,-1.9751361631335796e-11,-6.913719655750381e-14],"qvel":[-0.00012412021480497497,0.0009070768849475208,0.022409150099653056,-0.02415930535498557,2.0291024032680657e-05,-0.00011989953457956535,1.1740847466953928,-8.932978232145124e-06,1.1694072858224218,-1.1212840084452467,1.1740847698738501,-8.680827836796946e-06,1.1694078117977016,-1.121281438217323,2.9111452095813876e-11,2.2374104669276696e-13,7.649324120910758e-15,-2.0454092492907631e-13,2.671013047946541e-11,-9.267236206484407e-13],"joint_position_rad":[-1.58869989923579,-1.6087776735799062,1.6731546080100135,-1.6348930168392601,-1.5708022210692656,-0.01790354210368689],"joint_velocity_rad_s":[-0.00012412021480497497,0.0009070768849475208,0.022409150099653056,-0.02415930535498557,2.0291024032680657e-05,-0.00011989953457956535],"linkage_position_rad":[0.10345005761639038,0.00012673902001031286,0.10328967779867244,-0.09914949602244325,0.10345004796038244,0.00012668695637023985,0.10329303789495292,-0.0991546266165165],"tcp_position_m":[-0.12547366652498496,0.47730089940713205,0.30664714286440903],"tcp_quaternion_wxyz":[9.941257397794447e-05,0.7071067846755442,0.7071067638079122,-9.879298841017562e-05],"object_position_m":[-0.12546279438687602,0.47731244773497716,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5180316249699877e-13,-1.9751361631335796e-11,-6.913719655750381e-14],"object_linear_velocity_m_s":[2.9111452095813876e-11,2.2374104669276696e-13,7.649324120910758e-15],"object_angular_velocity_rad_s":[-2.0454092488877486e-13,2.671013047946572e-11,-9.267236206484112e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08364121856787643,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887236140626584,-1.618287607929598,1.6671146611766048,-1.644524013751985,-1.5707966499592152,-0.017927281436136706,70.0],"actuator_force":[0.0022184321851455024,-19.38269945336242,-21.043553706678722,-2.3995679208638876,0.0007564526218857281,0.00012028723304879918,-0.12506786168485817],"issued_joint_targets_rad":[-1.5887238440238454,-1.6086400194361499,1.6775662726722615,-1.6397007960758359,-1.5707979306571545,-0.01792746281221447],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5887238440238454,-1.6086400194361499,1.6775662726722615,-1.6397007960758359,-1.5707979306571545,-0.01792746281221447],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.859999999999796,"qpos":[-1.5887022627394864,-1.6087606275064938,1.6735798633284393,-1.6353519479008305,-1.570801819857027,-0.01790583408371187,0.1276989481448144,0.0001261564273906537,0.12744724317283335,-0.12231772008270644,0.12769893891580683,0.00012610912735205556,0.12745060407223793,-0.12232275752690755,-0.12546279438630734,0.47731244773498155,0.29989224457978353,1.0,1.4748520468214223e-13,-1.9188913584441486e-11,-7.907028101927887e-14],"qvel":[-0.00011261056051402782,0.0008040757917370006,0.020255797078138134,-0.021869988683292072,1.916398575789304e-05,-0.00010924165965191898,1.2449201795401343,-4.607356061294116e-05,1.2404709875698599,-1.1898913516609138,1.2449202008996034,-4.584747234119006e-05,1.2404706334217472,-1.1898849884951843,3.4315742413851335e-11,2.6375178208334416e-13,7.649324120910757e-15,3.7121399422088144e-12,-4.829316155534076e-10,-1.691964056183236e-12],"joint_position_rad":[-1.5887022627394864,-1.6087606275064938,1.6735798633284393,-1.6353519479008305,-1.570801819857027,-0.01790583408371187],"joint_velocity_rad_s":[-0.00011261056051402782,0.0008040757917370006,0.020255797078138134,-0.021869988683292072,1.916398575789304e-05,-0.00010924165965191898],"linkage_position_rad":[0.1276989481448144,0.0001261564273906537,0.12744724317283335,-0.12231772008270644,0.12769893891580683,0.00012610912735205556,0.12745060407223793,-0.12232275752690755],"tcp_position_m":[-0.1254726356408172,0.47730149906625874,0.30647605918938126],"tcp_quaternion_wxyz":[9.349471504442216e-05,0.7071068107988095,0.7071067392842559,-9.294870206313776e-05],"object_position_m":[-0.12546279438630734,0.47731244773498155,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4748520468214223e-13,-1.9188913584441486e-11,-7.907028101927887e-14],"object_linear_velocity_m_s":[3.4315742413851335e-11,2.6375178208334416e-13,7.649324120910757e-15],"object_angular_velocity_rad_s":[3.712139942197377e-12,-4.829316155534077e-10,-1.6919640561832226e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08125424475909905,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887238005251738,-1.618287347047916,1.6671158916468727,-1.644528156570009,-1.5707964800671266,-0.017927463231118396,80.0],"actuator_force":[0.0019686528307829576,-19.375069399538916,-21.030262194388797,-2.4011054662601055,0.0007534963745001733,0.00010959226192852611,-0.12105625522975316],"issued_joint_targets_rad":[-1.5887240036313637,-1.6086397613546732,1.6775674861980694,-1.639704337877754,-1.570797778261218,-0.017927627240016238],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5887240036313637,-1.6086397613546732,1.6775674861980694,-1.639704337877754,-1.570797778261218,-0.017927627240016238],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.879999999999794,"qpos":[-1.588704407901224,-1.6087455383565046,1.6739642676510145,-1.635767392041481,-1.5708014415509037,-0.01790792221677656,0.15322608067873336,0.00012491259209441796,0.15288861954594218,-0.1467269178680648,0.15322607186278475,0.00012486962693054765,0.1528919664880264,-0.14673179697930475,-0.12546279438574118,0.4773124477349859,0.29989224457978353,1.0,1.4336748448062672e-13,-1.8654666468491214e-11,-9.037933818721465e-14],"qvel":[-0.00010216284244593437,0.0007113346974579767,0.01830987948476771,-0.019797714994671763,1.8066846251057615e-05,-9.952549259424902e-05,1.3029708387442338,-7.569948169636846e-05,1.29884170761664,-1.2463812833874923,1.302970858841559,-7.549591495961901e-05,1.2988407154126527,-1.2463721105359078,4.3176249616133266e-11,3.317583834195698e-13,7.647936342129977e-15,9.38405764310152e-12,-1.2218850038171576e-09,-3.089094917350479e-12],"joint_position_rad":[-1.588704407901224,-1.6087455383565046,1.6739642676510145,-1.635767392041481,-1.5708014415509037,-0.01790792221677656],"joint_velocity_rad_s":[-0.00010216284244593437,0.0007113346974579767,0.01830987948476771,-0.019797714994671763,1.8066846251057615e-05,-9.952549259424902e-05],"linkage_position_rad":[0.15322608067873336,0.00012491259209441796,0.15288861954594218,-0.1467269178680648,0.15322607186278475,0.00012486962693054765,0.1528919664880264,-0.14673179697930475],"tcp_position_m":[-0.1254717028846041,0.4773020838712856,0.30632162602357604],"tcp_quaternion_wxyz":[8.782086997152224e-05,0.707106831714723,0.7071067198107052,-8.734074112213124e-05],"object_position_m":[-0.12546279438574118,0.4773124477349859,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4336748448062672e-13,-1.8654666468491214e-11,-9.037933818721465e-14],"object_linear_velocity_m_s":[4.3176249616133266e-11,3.317583834195698e-13,7.647936342129977e-15],"object_angular_velocity_rad_s":[9.384057642995905e-12,-1.2218850038171584e-09,-3.0890949173507234e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07870188540373088,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887239682231324,-1.6182873025089288,1.6671171746034164,-1.6445318884320277,-1.5707963264225067,-0.017927627630012283,90.0],"actuator_force":[0.0017444931613681547,-19.368062183831626,-21.0181378891034,-2.402476695806172,0.0007508795735020612,9.984264156415179e-05,-0.11702111500487078],"issued_joint_targets_rad":[-1.5887241479565226,-1.6086396851925422,1.6775687245387503,-1.6397075253462576,-1.5707976404611448,-0.017927775960114807],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5887241479565226,-1.6086396851925422,1.6775687245387503,-1.6397075253462576,-1.5707976404611448,-0.017927775960114807],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.8999999999997916,"qpos":[-1.5887063547250004,-1.6087322078301385,1.6743117538515042,-1.6361434719141745,-1.570801085441219,-0.01790982452835451,0.17980074439232235,0.00012314203369104265,0.1793846975649513,-0.17215803747583552,0.17980073598147,0.00012310302304406807,0.17938802004551033,-0.17216271053774088,-0.12546279438517768,0.4773124477349902,0.29989224457978353,1.0,1.3353250413832732e-13,-1.7377626293450664e-11,-1.0209701127924511e-13],"qvel":[-9.268125543211878e-05,0.000628046520060412,0.016551320655090362,-0.01792188605724554,1.700428207573918e-05,-9.066852867975088e-05,1.3505435864054605,-9.926352139810365e-05,1.3468047308758184,-1.2929049798630223,1.3505436055916107,-9.907964457697887e-05,1.3468032932141434,-1.2928937761375634,2.1163054601015087e-11,1.6262309076955278e-13,7.65071189969154e-15,-5.3330989985337705e-12,6.939489309449906e-10,-3.3467811233923657e-13],"joint_position_rad":[-1.5887063547250004,-1.6087322078301385,1.6743117538515042,-1.6361434719141745,-1.570801085441219,-0.01790982452835451],"joint_velocity_rad_s":[-9.268125543211878e-05,0.000628046520060412,0.016551320655090362,-0.01792188605724554,1.700428207573918e-05,-9.066852867975088e-05],"linkage_position_rad":[0.17980074439232235,0.00012314203369104265,0.1793846975649513,-0.17215803747583552,0.17980073598147,0.00012310302304406807,0.17938802004551033,-0.17216271053774088],"tcp_position_m":[-0.1254708589620451,0.47730265232453906,0.3061822285205881],"tcp_quaternion_wxyz":[8.239373484213387e-05,0.7071068481285497,0.7071067046927938,-8.197242462776594e-05],"object_position_m":[-0.12546279438517768,0.4773124477349902,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3353250413832732e-13,-1.7377626293450664e-11,-1.0209701127924511e-13],"object_linear_velocity_m_s":[2.1163054601015087e-11,1.6262309076955278e-13,7.65071189969154e-15],"object_angular_velocity_rad_s":[-5.333098998380439e-12,6.939489309449919e-10,-3.346781123392603e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07600335037146046,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588724119142663,-1.618287416965767,1.6671184744322272,-1.64453525116373,-1.5707961874471386,-0.017927776323129006,100.0],"actuator_force":[0.001543666847737768,-19.361636879281377,-21.00708710059007,-2.4037010190531873,0.0007485688327051321,9.095548072579618e-05,-0.1129599786749722],"issued_joint_targets_rad":[-1.5887242784834705,-1.6086397447738288,1.6775699594953721,-1.6397103953422745,-1.570797515839047,-0.017927910494146708],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5887242784834705,-1.6086397447738288,1.6775699594953721,-1.6397103953422745,-1.570797515839047,-0.017927910494146708],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9199999999997894,"qpos":[-1.5887081214356649,-1.6087204538946813,1.6746258746052476,-1.6364839189469012,-1.5708007507427926,-0.017911557462784305,0.20723385779026646,0.00012095329611569954,0.20674761318091436,-0.19843086369575924,0.20723384977951065,0.00012091789880484733,0.20675090405911614,-0.19843529673226065,-0.12546279438453667,0.4773124477349951,0.29989224457978353,1.0,1.4527088961295202e-13,-1.8906822610640522e-11,-1.211167833960374e-13],"qvel":[-8.40781403984884e-05,0.0005534265485777112,0.014962005480610743,-0.016223861599969074,1.59797792943206e-05,-8.25953965740744e-05,1.3895290659568589,-0.00011793483691492077,1.3862335681343707,-1.3312272032658483,1.3895290844420902,-0.00011776835102972252,1.3862318363320758,-1.3312145773419535,2.341888901649465e-11,1.7994226380382694e-13,7.645160784568413e-15,-4.683179848113599e-12,6.094646316902263e-10,-6.110344871229617e-13],"joint_position_rad":[-1.5887081214356649,-1.6087204538946813,1.6746258746052476,-1.6364839189469012,-1.5708007507427926,-0.017911557462784305],"joint_velocity_rad_s":[-8.40781403984884e-05,0.0005534265485777112,0.014962005480610743,-0.016223861599969074,1.59797792943206e-05,-8.25953965740744e-05],"linkage_position_rad":[0.20723385779026646,0.00012095329611569954,0.20674761318091436,-0.19843086369575924,0.20723384977951065,0.00012091789880484733,0.20675090405911614,-0.19843529673226065],"tcp_position_m":[-0.1254700954393132,0.47730320315263736,0.30605640742641804],"tcp_quaternion_wxyz":[7.721416003757989e-05,0.7071068606755758,0.7071066933061217,-7.684521131884632e-05],"object_position_m":[-0.12546279438453667,0.4773124477349951,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4527088961295202e-13,-1.8906822610640522e-11,-1.211167833960374e-13],"object_linear_velocity_m_s":[2.341888901649465e-11,1.7994226380382694e-13,7.645160784568413e-15],"object_angular_velocity_rad_s":[-4.6831798479428605e-12,6.094646316902276e-10,-6.110344871229748e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07317516175138496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887242550431058,-1.6182876455980162,1.6671197643093174,-1.6445382823178971,-1.570796061720341,-0.017927910831962487,110.0],"actuator_force":[0.0013640412776112498,-19.355754026101295,-20.997022784104956,-2.4047955255009583,0.0007465332963647597,8.285506831740008e-05,-0.10887113048360675],"issued_joint_targets_rad":[-1.5887243965485096,-1.6086399036064463,1.6775711703142009,-1.6397129806624802,-1.5707974031182281,-0.01792803221258739],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.5887243965485096,-1.6086399036064463,1.6775711703142009,-1.6397129806624802,-1.5707974031182281,-0.01792803221258739],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9399999999997872,"qpos":[-1.5887097246252369,-1.6087101101637349,1.6749098394489716,-1.6367921105284262,-1.570800436616314,-0.017913136020255845,0.23537045778747087,0.00011843401470125521,0.23482331983604857,-0.22539705239242114,0.2353704501727967,0.00011840192198202369,0.23482657459783673,-0.2254012220982169,-0.12546279438390484,0.477312447735,0.29989224457978353,1.0,1.5338683743599486e-13,-1.9963292213505968e-11,-1.426105548300868e-13],"qvel":[-7.627338567411025e-05,0.0004867220298478413,0.01352558489849771,-0.014686772984986452,1.4995823405707502e-05,-7.523725567277448e-05,1.4214768077450441,-0.00013265478848523815,1.418664495340801,-1.3627966064155006,1.4214768256459618,-0.00013250379297424303,1.4186625870143534,-1.3627830280979254,2.5894221379185642e-11,1.9895522252407206e-13,7.646548563349196e-15,-3.3013887883179306e-12,4.2964918863490437e-10,-1.1155907918005152e-12],"joint_position_rad":[-1.5887097246252369,-1.6087101101637349,1.6749098394489716,-1.6367921105284262,-1.570800436616314,-0.017913136020255845],"joint_velocity_rad_s":[-7.627338567411025e-05,0.0004867220298478413,0.01352558489849771,-0.014686772984986452,1.4995823405707502e-05,-7.523725567277448e-05],"linkage_position_rad":[0.23537045778747087,0.00011843401470125521,0.23482331983604857,-0.22539705239242114,0.2353704501727967,0.00011840192198202369,0.23482657459783673,-0.2254012220982169],"tcp_position_m":[-0.12546940466809484,0.4773037353053399,0.3059428442545794],"tcp_quaternion_wxyz":[7.228132964303655e-05,0.707106869924314,0.70710668509297,-7.195887035116644e-05],"object_position_m":[-0.12546279438390484,0.477312447735,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5338683743599486e-13,-1.9963292213505968e-11,-1.426105548300868e-13],"object_linear_velocity_m_s":[2.5894221379185642e-11,1.9895522252407206e-13,7.646548563349196e-15],"object_angular_velocity_rad_s":[-3.3013887881508438e-12,4.2964918863490567e-10,-1.1155907918005233e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07023165579498843,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887243774855666,-1.6182879535373424,1.6671210244524082,-1.6445410155595304,-1.5707959479625093,-0.0179280325268616,120.0],"actuator_force":[0.0012036336102028145,-19.350375559154145,-20.987863952526368,-2.4057752170533604,0.0007447445618709025,7.54722644007444e-05,-0.10475356496841215],"issued_joint_targets_rad":[-1.5887245033554778,-1.6086401329933884,1.6775723421006832,-1.6397153105217648,-1.5707973011485266,-0.01792814235042441],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5887245033554778,-1.6086401329933884,1.6775723421006832,-1.6397153105217648,-1.5707973011485266,-0.01792814235042441],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.959999999999785,"qpos":[-1.5887111793895314,-1.6087010251304117,1.6751665481644036,-1.6370711036543328,-1.5708001421862234,-0.01791457388217697,0.26408354405438206,0.00011565498263295374,0.26348550396282727,-0.2529344275767851,0.26408353683153213,0.00011562591327438533,0.2634887201249575,-0.252938318831282,-0.12546279438328786,0.47731244773500464,0.29989224457978353,1.0,1.5709655159177397e-13,-2.0444204639603828e-11,-1.6636434764621276e-13],"qvel":[-6.919385738416773e-05,0.0004272187147399179,0.012227300734611837,-0.013295354524428735,1.4054062671442591e-05,-6.853124202442817e-05,1.4476567768655926,-0.00014418200419798394,1.445357491386376,-1.388802847165534,1.4476567942382432,-0.00014404489938260546,1.4453554970970868,-1.3887886745598965,2.912334612230159e-11,2.2379363181339686e-13,7.65071189969154e-15,-9.531118027563021e-13,1.242095670612511e-10,-2.0367853398366447e-12],"joint_position_rad":[-1.5887111793895314,-1.6087010251304117,1.6751665481644036,-1.6370711036543328,-1.5708001421862234,-0.01791457388217697],"joint_velocity_rad_s":[-6.919385738416773e-05,0.0004272187147399179,0.012227300734611837,-0.013295354524428735,1.4054062671442591e-05,-6.853124202442817e-05],"linkage_position_rad":[0.26408354405438206,0.00011565498263295374,0.26348550396282727,-0.2529344275767851,0.26408353683153213,0.00011562591327438533,0.2634887201249575,-0.252938318831282],"tcp_position_m":[-0.12546877971620127,0.47730424795043747,0.3058403478516376],"tcp_quaternion_wxyz":[6.759294290853684e-05,0.7071068763804043,0.7071066795582415,-6.73116566498356e-05],"object_position_m":[-0.12546279438328786,0.47731244773500464,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5709655159177397e-13,-2.0444204639603828e-11,-1.6636434764621276e-13],"object_linear_velocity_m_s":[2.912334612230159e-11,2.2379363181339686e-13,7.65071189969154e-15],"object_angular_velocity_rad_s":[-9.53111802631693e-13,1.2420956706125204e-10,-2.03678533983659e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0671853744637268,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588724487857484,-1.6182883138167892,1.6671222406801778,-1.6445434810425228,-1.5707958450205068,-0.017928142642700613,130.0],"actuator_force":[0.0010606070486574026,-19.345464858651212,-20.979535262296395,-2.4066532416521795,0.0007431765910723698,6.87439406217294e-05,-0.1006068998148919],"issued_joint_targets_rad":[-1.5887245999894204,-1.608640410499942,1.6775734645460074,-1.6397174109740158,-1.570797208893279,-0.017928242021103546],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.5887245999894204,-1.608640410499942,1.6775734645460074,-1.6397174109740158,-1.570797208893279,-0.017928242021103546],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.979999999999783,"qpos":[-1.5887124994553001,-1.6086930613063732,1.6753986208646454,-1.6373236653692032,-1.5707998665555933,-0.017915883525867506,0.2932690340062946,0.00011267341332102572,0.2926305991687296,-0.2809423059109243,0.2932690271700605,0.0001126471099531565,0.29263377580384825,-0.28094590979053147,-0.12546279438269195,0.47731244773500925,0.29989224457978353,1.0,1.5475195125675797e-13,-2.0135519839355922e-11,-1.9160240830241225e-13],"qvel":[-6.277285874663056e-05,0.0003742449772401501,0.011053828571444848,-0.012035790830162454,1.3155448569896678e-05,-6.241995944324759e-05,1.4691098128218691,-0.000153128466501458,1.4673460990065172,-1.4102231292837035,1.4691098296845382,-0.00015300388357968693,1.4673440878868311,-1.4102086316687963,3.3973435984317256e-11,2.6112555168198946e-13,7.653487457253102e-15,2.7032309397217164e-12,-3.5122538929308196e-10,-3.71864906234902e-12],"joint_position_rad":[-1.5887124994553001,-1.6086930613063732,1.6753986208646454,-1.6373236653692032,-1.5707998665555933,-0.017915883525867506],"joint_velocity_rad_s":[-6.277285874663056e-05,0.0003742449772401501,0.011053828571444848,-0.012035790830162454,1.3155448569896678e-05,-6.241995944324759e-05],"linkage_position_rad":[0.2932690340062946,0.00011267341332102572,0.2926305991687296,-0.2809423059109243,0.2932690271700605,0.0001126471099531565,0.29263377580384825,-0.28094590979053147],"tcp_position_m":[-0.12546821430352062,0.4773047404648731,0.3057478422239006],"tcp_quaternion_wxyz":[6.314539490927395e-05,0.707106880490952,0.7071066762650043,-6.290048758582788e-05],"object_position_m":[-0.12546279438269195,0.47731244773500925,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.5475195125675797e-13,-2.0135519839355922e-11,-1.9160240830241225e-13],"object_linear_velocity_m_s":[3.3973435984317256e-11,2.6112555168198946e-13,7.653487457253102e-15],"object_angular_velocity_rad_s":[2.703230939736879e-12,-3.5122538929308186e-10,-3.718649062348864e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.06404737581305582,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887245873938172,-1.6182887057336997,1.667123403233546,-1.6445457057648283,-1.5707957518546642,-0.01792824229282304,140.0],"actuator_force":[0.0009332664644716715,-19.34098684554874,-20.971966690776753,-2.4074411147962564,0.0007418056075039203,6.261246655903108e-05,-0.09643127134979324],"issued_joint_targets_rad":[-1.5887246874287535,-1.608640718711068,1.6775745309067414,-1.6397193052795134,-1.5707971254177164,-0.017928332228931632],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5887246874287535,-1.608640718711068,1.6775745309067414,-1.6397193052795134,-1.5707971254177164,-0.017928332228931632],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":2.9999999999997806,"qpos":[-1.5887136972981692,-1.6086860943076693,1.6756084251197754,-1.637552300309807,-1.5707996088184353,-0.017917076329455103,0.3228416280035543,0.00010953555999290918,0.32217369972272897,-0.3093376595236573,0.32284162154742013,0.00010951178633521618,0.3221768370856253,-0.30934097172865704,-0.1254627943821265,0.4773124477350136,0.29989224457978353,1.0,1.437208514280267e-13,-1.869745129777196e-11,-2.1645778833724888e-13],"qvel":[-5.694961885921219e-05,0.0003271740315074527,0.009993136633942204,-0.010895578705567887,1.2300356354240505e-05,-5.6851012322589673e-05,1.4866889672118373,-0.00015998833210820675,1.4854782505197242,-1.4278602203412527,1.4866889835605894,-0.0001598750826562417,1.4854762749219543,-1.4278455970014918,4.18772446811688e-11,3.2192116858138735e-13,7.656263014814664e-15,8.150549430988781e-12,-1.0598836609264154e-09,-6.789304343478997e-12],"joint_position_rad":[-1.5887136972981692,-1.6086860943076693,1.6756084251197754,-1.637552300309807,-1.5707996088184353,-0.017917076329455103],"joint_velocity_rad_s":[-5.694961885921219e-05,0.0003271740315074527,0.009993136633942204,-0.010895578705567887,1.2300356354240505e-05,-5.6851012322589673e-05],"linkage_position_rad":[0.3228416280035543,0.00010953555999290918,0.32217369972272897,-0.3093376595236573,0.32284162154742013,0.00010951178633521618,0.3221768370856253,-0.30934097172865704],"tcp_position_m":[-0.12546770274305732,0.4773052124226807,0.305664355508794],"tcp_quaternion_wxyz":[5.8933953302225143e-05,0.7071068826490943,0.7071066748298298,-5.8721117448298614e-05],"object_position_m":[-0.1254627943821265,0.4773124477350136,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.437208514280267e-13,-1.869745129777196e-11,-2.1645778833724888e-13],"object_linear_velocity_m_s":[4.18772446811688e-11,3.2192116858138735e-13,7.656263014814664e-15],"object_angular_velocity_rad_s":[8.150549430783826e-12,-1.059883660926417e-09,-6.7893043434788625e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0608274835882615,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.588724677195364,-1.6182891135415627,1.6671245058168882,-1.6445477138963245,-1.5707956675272081,-0.01792833248144268,150.0],"actuator_force":[0.0008200531542570388,-19.336908080390003,-20.965093259351306,-2.4081489227020256,0.0007406099781519515,5.702523847084251e-05,-0.09222723141085254],"issued_joint_targets_rad":[-1.5887247665561042,-1.6086410442250973,1.677575537189148,-1.6397210142260954,-1.5707970498786168,-0.01792841388014911],"issued_gripper_0_255":180.0,"command":{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.5887247665561042,-1.6086410442250973,1.677575537189148,-1.6397210142260954,-1.5707970498786168,-0.01792841388014911],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0199999999997784,"qpos":[-1.5887147842517264,-1.6086800119191094,1.6757981004212787,-1.63775927562565,-1.5707993680698018,-0.017918162667783726,0.35273142052264456,0.0001062788219741958,0.352045210595995,-0.3380519643045158,0.3527314144386644,0.00010625736067600547,0.35204830983269003,-0.3380549839242875,-0.1254627943815761,0.47731244773501774,0.29989224457978353,1.0,1.2980826437374944e-13,-1.6885882459516605e-11,-2.422112398804608e-13],"qvel":[-5.166881152575382e-05,0.000285424685752869,0.00903435894721575,-0.009863402211282528,1.1488688458285988e-05,-5.1776577128427934e-05,1.5010933827655106,-0.00016516095230806256,1.5004497138975643,-1.4423735659729096,1.501093398584662,-0.00016505799148840573,1.5004478131697523,-1.4423589614497794,2.0677218845457944e-11,1.5894984729743532e-13,7.656263014814664e-15,-5.335803726962325e-12,6.941724529877223e-10,-7.355654184902822e-13],"joint_position_rad":[-1.5887147842517264,-1.6086800119191094,1.6757981004212787,-1.63775927562565,-1.5707993680698018,-0.017918162667783726],"joint_velocity_rad_s":[-5.166881152575382e-05,0.000285424685752869,0.00903435894721575,-0.009863402211282528,1.1488688458285988e-05,-5.1776577128427934e-05],"linkage_position_rad":[0.35273142052264456,0.0001062788219741958,0.352045210595995,-0.3380519643045158,0.3527314144386644,0.00010625736067600547,0.35204830983269003,-0.3380549839242875],"tcp_position_m":[-0.12546723988678726,0.47730566358050597,0.3055890099855014],"tcp_quaternion_wxyz":[5.4952928373013154e-05,0.7071068831986227,0.7071066749181039,-5.4768306538982946e-05],"object_position_m":[-0.1254627943815761,0.47731244773501774,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.2980826437374944e-13,-1.6885882459516605e-11,-2.422112398804608e-13],"object_linear_velocity_m_s":[2.0677218845457944e-11,1.5894984729743532e-13,7.656263014814664e-15],"object_angular_velocity_rad_s":[-5.335803726601211e-12,6.941724529877251e-10,-7.355654184902631e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.05753449038956648,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887247582446355,-1.6182895254044607,1.66712554482194,-1.644549527077497,-1.570795591191937,-0.017928414114714686,160.0],"actuator_force":[0.0007195387920546636,-19.33319684500384,-20.958854777564284,-2.4087855047953326,0.000739570086693675,5.193424736305019e-05,-0.08799565481631788],"issued_joint_targets_rad":[-1.5887248381679904,-1.6086413768398056,1.6775764814989056,-1.6397225564103057,-1.5707969815150606,-0.017928487792804364],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.5887248381679904,-1.6086413768398056,1.6775764814989056,-1.6397225564103057,-1.5707969815150606,-0.017928487792804364],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.039999999999776,"qpos":[-1.58871577060816,-1.6086747131612396,1.6759695802527377,-1.6379466435271397,-1.5707991434140023,-0.01791915200008087,0.3828811227068319,0.00010293344069705426,0.38218810105364825,-0.36702860961769274,0.382881116985657,0.00010291409160435985,0.3821911639772759,-0.36703133816814304,-0.1254627943809645,0.47731244773502246,0.29989224457978353,1.0,1.3814256038970021e-13,-1.796617050588447e-11,-2.8401358662891855e-13],"qvel":[-4.6880104310987255e-05,0.0002484609933134208,0.008167681237770374,-0.008929019656495885,1.0719963009066791e-05,-4.715300947036687e-05,1.5128960600042993,-0.00016896928636252862,1.512831504839511,-1.4543047894456709,1.512896075273372,-0.00016887568600437627,1.5128297083520543,-1.4542903057331464,2.2329908067317852e-11,1.7169259327381872e-13,7.647936342129973e-15,-4.5581417000366205e-12,5.929540749231567e-10,-1.3429538442741872e-12],"joint_position_rad":[-1.58871577060816,-1.6086747131612396,1.6759695802527377,-1.6379466435271397,-1.5707991434140023,-0.01791915200008087],"joint_velocity_rad_s":[-4.6880104310987255e-05,0.0002484609933134208,0.008167681237770374,-0.008929019656495885,1.0719963009066791e-05,-4.715300947036687e-05],"linkage_position_rad":[0.3828811227068319,0.00010293344069705426,0.38218810105364825,-0.36702860961769274,0.382881116985657,0.00010291409160435985,0.3821911639772759,-0.36703133816814304],"tcp_position_m":[-0.12546682107603585,0.47730609386147943,0.3055210130291742],"tcp_quaternion_wxyz":[5.119583408793362e-05,0.7071068824385475,0.7071066762394144,-5.103598229601479e-05],"object_position_m":[-0.1254627943809645,0.47731244773502246,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.3814256038970021e-13,-1.796617050588447e-11,-2.8401358662891855e-13],"object_linear_velocity_m_s":[2.2329908067317852e-11,1.7169259327381872e-13,7.647936342129973e-15],"object_angular_velocity_rad_s":[-4.558141699651551e-12,5.929540749231597e-10,-1.3429538442741474e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.05417632466802834,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887248314196558,-1.6182899325617672,1.66712651870245,-1.6445511646892552,-1.5707955220849983,-0.017928488010608753,170.0],"actuator_force":[0.0006304187327259569,-19.329823198380836,-20.953195595683155,-2.409358615408223,0.0007386682010519507,4.7295683096137964e-05,-0.08373766101280467],"issued_joint_targets_rad":[-1.5887249029834645,-1.6086417088949663,1.6775773635243352,-1.6397239484838888,-1.5707969196401754,-0.01792855470558477],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5887249029834645,-1.6086417088949663,1.6775773635243352,-1.6397239484838888,-1.5707969196401754,-0.01792855470558477],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.059999999999774,"qpos":[-1.5887166657108935,-1.608670107377763,1.676124612005907,-1.6381162616878562,-1.5707989339712076,-0.017920052950072828,0.4132437859958797,9.95238672299083e-05,0.4125556529991413,-0.39622076836605086,0.4132437806268796,9.950644594983524e-05,0.412558681919086,-0.39622320904358355,-0.12546279438036842,0.47731244773502707,0.29989224457978353,1.0,1.4437243625754972e-13,-1.877301280529694e-11,-3.3125351580576874e-13],"qvel":[-4.253773754168316e-05,0.00021579109310976004,0.007384238233353348,-0.00808316138022055,9.993389392571178e-06,-4.29404840508015e-05,1.5225666145699732,-0.00017167465830496273,1.5230923610254123,-1.4640986098922866,1.522566629268072,-0.00017158958681618195,1.5230906905750086,-1.4640843160949306,2.438599467523205e-11,1.8753819953153607e-13,7.643773005787628e-15,-3.174324698365154e-12,4.1291773990335167e-10,-2.4518919962700474e-12],"joint_position_rad":[-1.5887166657108935,-1.608670107377763,1.676124612005907,-1.6381162616878562,-1.5707989339712076,-0.017920052950072828],"joint_velocity_rad_s":[-4.253773754168316e-05,0.00021579109310976004,0.007384238233353348,-0.00808316138022055,9.993389392571178e-06,-4.29404840508015e-05],"linkage_position_rad":[0.4132437859958797,9.95238672299083e-05,0.4125556529991413,-0.39622076836605086,0.4132437806268796,9.950644594983524e-05,0.412558681919086,-0.39622320904358355],"tcp_position_m":[-0.12546644209608854,0.4773065033381524,0.3054596489216951],"tcp_quaternion_wxyz":[4.765553844761559e-05,0.7071068806275141,0.7071066785431132,-4.7517390473492386e-05],"object_position_m":[-0.12546279438036842,0.47731244773502707,0.29989224457978353],"object_quaternion_wxyz":[1.0,1.4437243625754972e-13,-1.877301280529694e-11,-3.3125351580576874e-13],"object_linear_velocity_m_s":[2.438599467523205e-11,1.8753819953153607e-13,7.643773005787628e-15],"object_angular_velocity_rad_s":[-3.174324697999534e-12,4.129177399033545e-10,-2.451891996270003e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.050760189014093106,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-1.5887248975059716,-1.6182903286614048,1.667127427472576,-1.6445526440953122,-1.5707954595166498,-0.017928554907739248,180.0],"actuator_force":[0.0005515048605957418,-19.326759004527958,-20.948064360003173,-2.4098750657059327,0.0007378883396995661,4.306957187161231e-05,-0.07945455032818671],"issued_joint_targets_rad":[-1.5887249616518484,-1.6086420347420864,1.6775781841272193,-1.6397252053702096,-1.57079686363374,-0.017928615285722677],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5887249616518484,-1.6086420347420864,1.6775781841272193,-1.6397252053702096,-1.57079686363374,-0.017928615285722677],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.079999999999772,"qpos":[-1.5887177708556526,-1.6086699294540863,1.6762594436879497,-1.6382688876775873,-1.5707991265225878,-0.01792087849000758,0.44069795584149507,0.0001688399330133202,0.4397598043695794,-0.4230941795487247,0.4406980542505093,0.00016821827634146843,0.439760958425966,-0.4231078134491724,-0.12546286172736706,0.47731322916879576,0.2998711721323202,0.9999999999809102,-6.082997866739199e-06,-1.083134290412036e-06,-5.6948494951462667e-08],"qvel":[-0.0001430588597375912,-0.0014162788345383557,0.004726936431366894,-0.007276297332259286,-0.0001419237921693318,-4.060265866533058e-05,1.1676311926919891,0.011188003116109312,1.123472368450599,-1.2853182833162493,1.1676750433587106,0.011005732696880627,1.1226142129850765,-1.2883645879153984,-2.690989458999531e-05,0.00029031970143810073,-0.007894557301939232,-0.004215048907851532,-0.0008294484381033643,-4.417575392781557e-05],"joint_position_rad":[-1.5887177708556526,-1.6086699294540863,1.6762594436879497,-1.6382688876775873,-1.5707991265225878,-0.01792087849000758],"joint_velocity_rad_s":[-0.0001430588597375912,-0.0014162788345383557,0.004726936431366894,-0.007276297332259286,-0.0001419237921693318,-4.060265866533058e-05],"linkage_position_rad":[0.44069795584149507,0.0001688399330133202,0.4397598043695794,-0.4230941795487247,0.4406980542505093,0.00016821827634146843,0.439760958425966,-0.4231078134491724],"tcp_position_m":[-0.12546584723437756,0.4773076522030645,0.30540860969109074],"tcp_quaternion_wxyz":[4.160905962758739e-05,0.7071069798784149,0.7071065800752705,-4.111164505843228e-05],"object_position_m":[-0.12546286172736706,0.47731322916879576,0.2998711721323202],"object_quaternion_wxyz":[0.9999999999809102,-6.082997866739199e-06,-1.083134290412036e-06,-5.6948494951462667e-08],"object_linear_velocity_m_s":[-2.690989458999531e-05,0.00029031970143810073,-0.007894557301939232],"object_angular_velocity_rad_s":[-0.004215048906627705,-0.0008294484954581745,-4.417479378932193e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04772561730894133,"grasp_contact_counts":{"left":2,"right":2},"pad_normal_forces_n":{"left":9.224115715833138,"right":9.29470596805622},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":8,"native_actuator_controls":[-1.5887249607122989,-1.618289671012509,1.6671292827999262,-1.64455317393264,-1.5707954035546703,-0.017928615526550975,180.0],"actuator_force":[0.04284383060257824,-18.672971583030176,-20.15109634859391,-2.414513394300343,0.0160538631757845,0.0001917475948367553,0.7242583151462796],"issued_joint_targets_rad":[-1.588725014180831,-1.6086423562043763,1.6775789428341197,-1.6397263248901401,-1.570796813866621,-0.017928669580484696],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.588725014180831,-1.6086423562043763,1.6775789428341197,-1.6397263248901401,-1.570796813866621,-0.017928669580484696],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.0999999999997696,"qpos":[-1.5887204138663018,-1.6087173734686986,1.6763431634533754,-1.638416710885009,-1.5708099822956016,-0.017921631459316217,0.45728167220486154,0.0003064703439687948,0.4547180094455367,-0.4449423185432035,0.45728540753748587,0.0003075376187061109,0.45468536158135653,-0.44511493512884104,-0.12546581947023694,0.47731989815221637,0.29965094159541117,0.9999999994993997,-4.20317663935683e-06,-3.135361208772498e-05,-6.960153216938872e-07],"qvel":[4.087396235873216e-06,-0.0024303001249812942,0.0039947655395417255,-0.007134937046873586,-0.00031722854070193333,-3.3423215613991717e-05,0.5833503753866758,0.005485383785222077,0.509967141474657,-0.8573547086009631,0.5831852787927988,0.004169784712415674,0.5060758222330072,-0.857826970693354,-9.28920359248416e-05,0.0003062885610551573,-0.009570975226848627,0.002531574876125333,2.8989933424158367e-05,5.49848463146534e-05],"joint_position_rad":[-1.5887204138663018,-1.6087173734686986,1.6763431634533754,-1.638416710885009,-1.5708099822956016,-0.017921631459316217],"joint_velocity_rad_s":[4.087396235873216e-06,-0.0024303001249812942,0.0039947655395417255,-0.007134937046873586,-0.00031722854070193333,-3.3423215613991717e-05],"linkage_position_rad":[0.45728167220486154,0.0003064703439687948,0.4547180094455367,-0.4449423185432035,0.45728540753748587,0.0003075376187061109,0.45468536158135653,-0.44511493512884104],"tcp_position_m":[-0.12546167617131415,0.4773153574839703,0.30540481113813256],"tcp_quaternion_wxyz":[6.790410918312356e-06,0.7071076493438797,0.7071059129900186,2.7954281326739756e-06],"object_position_m":[-0.12546581947023694,0.47731989815221637,0.29965094159541117],"object_quaternion_wxyz":[0.9999999994993997,-4.20317663935683e-06,-3.135361208772498e-05,-6.960153216938872e-07],"object_linear_velocity_m_s":[-9.28920359248416e-05,0.0003062885610551573,-0.009570975226848627],"object_angular_velocity_rad_s":[0.0025315714635613107,2.8986872284992833e-05,5.514335055425526e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04655233217165092,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":47.77628044859491,"right":47.87928195414418},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887250139894111,-1.6182880473467103,1.6671310360867844,-1.6445537955953926,-1.5707953877694827,-0.017928669591422208,180.0],"actuator_force":[-0.010835204712748236,-18.16922770603105,-20.02216094899859,-2.3550486505043864,0.03902011712966669,-0.00017674449159521544,4.909557741985253],"issued_joint_targets_rad":[-1.5887250551859562,-1.608642780493386,1.6775797314925154,-1.639727325957686,-1.5707967866456654,-0.017928712033052668],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.5887250551859562,-1.608642780493386,1.6775797314925154,-1.639727325957686,-1.5707967866456654,-0.017928712033052668],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1199999999997674,"qpos":[-1.5887187919109877,-1.6087544285581616,1.6764275889950306,-1.6385518605354883,-1.570812180818593,-0.017922266801573387,0.46223852895464024,0.0003581129907276475,0.4592787046985901,-0.452501739464163,0.4622389577954718,0.0003527213564812999,0.4592152305785445,-0.4526820584180627,-0.125466837544244,0.4773245987122162,0.2995564428266974,0.9999999993795466,2.0006766401664643e-05,-2.898928591030009e-05,5.079340189551963e-07],"qvel":[9.185075433157809e-05,-0.0013373728419707135,0.004325309065976694,-0.0063538021273540106,1.2212413341858937e-06,-3.100825396023785e-05,0.006894843646169117,-0.003821138278113147,0.007468512880186022,0.006807998624675362,0.006816479311212535,-0.0037492202688649166,0.007364624843413662,0.00718752680149863,-2.0855218741061915e-05,0.00017785894556936218,-0.0008212955829866415,0.0019569689363873525,0.00033943270185444205,0.0001251810915950088],"joint_position_rad":[-1.5887187919109877,-1.6087544285581616,1.6764275889950306,-1.6385518605354883,-1.570812180818593,-0.017922266801573387],"joint_velocity_rad_s":[9.185075433157809e-05,-0.0013373728419707135,0.004325309065976694,-0.0063538021273540106,1.2212413341858937e-06,-3.100825396023785e-05],"linkage_position_rad":[0.46223852895464024,0.0003581129907276475,0.4592787046985901,-0.452501739464163,0.4622389577954718,0.0003527213564812999,0.4592152305785445,-0.4526820584180627],"tcp_position_m":[-0.1254617901894479,0.4773206042953421,0.3053944658427046],"tcp_quaternion_wxyz":[-2.289195450774606e-05,0.7071068509102119,0.707106710218949,3.514450491963131e-05],"object_position_m":[-0.125466837544244,0.4773245987122162,0.2995564428266974],"object_quaternion_wxyz":[0.9999999993795466,2.0006766401664643e-05,-2.898928591030009e-05,5.079340189551963e-07],"object_linear_velocity_m_s":[-2.0855218741061915e-05,0.00017785894556936218,-0.0008212955829866415],"object_angular_velocity_rad_s":[0.001956961330066231,0.00033942967839331833,0.0001253081354796754],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04625693471678747,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":47.58476086039635,"right":47.603908128581644},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887250542555231,-1.6182874008127013,1.6671321032573718,-1.64455482844888,-1.5707953677380062,-0.017928711920324202,180.0],"actuator_force":[-0.04926499080374924,-18.530995372290818,-20.321095101708124,-2.3661037439604797,0.00828441615999509,-0.00012173397938397557,5.0],"issued_joint_targets_rad":[-1.5887250972910314,-1.6086431608980052,1.6775804506316745,-1.6397282531201205,-1.5707967488216164,-0.017928754809736075],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5887250972910314,-1.6086431608980052,1.6775804506316745,-1.6397282531201205,-1.5707967488216164,-0.017928754809736075],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.139999999999765,"qpos":[-1.5887173433235837,-1.608780403762264,1.6765083245076051,-1.6386717012632388,-1.5708121942047346,-0.017922864682481658,0.4613367306357538,0.0002783836102749172,0.4584161404201949,-0.45093530379615265,0.46133666780869576,0.0002724113182860511,0.4583525558602794,-0.45110161574302665,-0.12546703892299263,0.4773281166400514,0.2995593672179598,0.9999999989456874,3.816708100181124e-05,-2.5487589335771324e-05,1.5111184419100072e-06],"qvel":[6.307593835383279e-05,-0.0013570436806853083,0.0037366225328316002,-0.005719062614799645,-2.0292134326777682e-05,-2.853852182034098e-05,-0.0418001729266609,-0.001996266083090939,-0.04041193608439797,0.062158001389610154,-0.041796010708673156,-0.002048147623462042,-0.0404069692452631,0.06263687344774596,-8.724537689159564e-06,0.00018587037345496499,0.00017679765557030902,0.0018090600691736724,0.0002637011471723221,8.782381225376971e-05],"joint_position_rad":[-1.5887173433235837,-1.608780403762264,1.6765083245076051,-1.6386717012632388,-1.5708121942047346,-0.017922864682481658],"joint_velocity_rad_s":[6.307593835383279e-05,-0.0013570436806853083,0.0037366225328316002,-0.005719062614799645,-2.0292134326777682e-05,-2.853852182034098e-05],"linkage_position_rad":[0.4613367306357538,0.0002783836102749172,0.4584161404201949,-0.45093530379615265,0.46133666780869576,0.0002724113182860511,0.4583525558602794,-0.45110161574302665],"tcp_position_m":[-0.12546240360212843,0.4773245849888543,0.30537913985163323],"tcp_quaternion_wxyz":[-4.548050931310933e-05,0.7071061262347664,0.7071074322496318,5.8567201081836956e-05],"object_position_m":[-0.12546703892299263,0.4773281166400514,0.2995593672179598],"object_quaternion_wxyz":[0.9999999989456874,3.816708100181124e-05,-2.5487589335771324e-05,1.5111184419100072e-06],"object_linear_velocity_m_s":[-8.724537689159564e-06,0.00018587037345496499,0.00017679765557030902],"object_angular_velocity_rad_s":[0.0018090547925102515,0.0002636999063273677,8.793615863838191e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04630333812748641,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":45.51488224926497,"right":45.54398964136954},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887250965824504,-1.6182872524679335,1.6671328011645306,-1.6445559742919225,-1.5707953299238708,-0.017928754604550644,180.0],"actuator_force":[-0.04073689307506356,-18.47087993906507,-20.245695699281896,-2.370230252861802,0.01046135386457081,-9.110885245888767e-05,5.0],"issued_joint_targets_rad":[-1.5887251365078743,-1.608643487018409,1.6775810819273396,-1.6397290818656773,-1.5707967113099435,-0.017928794803247078],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5887251365078743,-1.608643487018409,1.6775810819273396,-1.6397290818656773,-1.5707967113099435,-0.017928794803247078],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.159999999999763,"qpos":[-1.5887161321615677,-1.60880833570949,1.6765776562073587,-1.6387811835913482,-1.5708129207759143,-0.017923410203768385,0.46101723510354886,0.0002730928631755411,0.4581069919947964,-0.45053417051531525,0.46101734765268587,0.0002668395812171231,0.4580436915240335,-0.4506985577898169,-0.1254672928838696,0.47733203339053343,0.29955607632816783,0.9999999981309659,5.6251926998065156e-05,-2.383773919169463e-05,2.3560713650292836e-06],"qvel":[5.882670618199746e-05,-0.001393673324432925,0.003254858020524957,-0.005254515826894847,-4.3133311509037866e-05,-2.6030394748189556e-05,0.0002842597543291487,0.0004625031990282656,0.00028840430293328655,-0.003720502701789517,0.0002913078897066937,0.0004740255418599852,0.00030591288416151894,-0.0038302290330698772,-1.547577794364568e-05,0.000200731824392071,-0.0003617249957733848,0.0017703246079101443,0.0001149909296007746,8.216084882259022e-05],"joint_position_rad":[-1.5887161321615677,-1.60880833570949,1.6765776562073587,-1.6387811835913482,-1.5708129207759143,-0.017923410203768385],"joint_velocity_rad_s":[5.882670618199746e-05,-0.001393673324432925,0.003254858020524957,-0.005254515826894847,-4.3133311509037866e-05,-2.6030394748189556e-05],"linkage_position_rad":[0.46101723510354886,0.0002730928631755411,0.4581069919947964,-0.45053417051531525,0.46101734765268587,0.0002668395812171231,0.4580436915240335,-0.4506985577898169],"tcp_position_m":[-0.12546271609711984,0.47732888213483626,0.3053693088303811],"tcp_quaternion_wxyz":[-6.885467994428871e-05,0.7071055031847912,0.7071080509250117,8.331774754767066e-05],"object_position_m":[-0.1254672928838696,0.47733203339053343,0.29955607632816783],"object_quaternion_wxyz":[0.9999999981309659,5.6251926998065156e-05,-2.383773919169463e-05,2.3560713650292836e-06],"object_linear_velocity_m_s":[-1.547577794364568e-05,0.000200731824392071,-0.0003617249957733848],"object_angular_velocity_rad_s":[0.0017703201466805134,0.0001149900227249118,8.225818666074369e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04633130242936483,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":45.7208773104108,"right":45.757415133135865},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887251360475791,-1.6182870163073908,1.6671334039411483,-1.644557028864459,-1.57079529477897,-0.01792879449571245,180.0],"actuator_force":[-0.0415384544958215,-18.39989186602861,-20.19044774063059,-2.362471053866102,0.013126329622991761,-8.910649721549646e-05,5.0],"issued_joint_targets_rad":[-1.5887251716001085,-1.6086437964867697,1.6775816617766681,-1.639729827910955,-1.5707966784600045,-0.01792883045603215],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5887251716001085,-1.6086437964867697,1.6775816617766681,-1.639729827910955,-1.5707966784600045,-0.01792883045603215],"gripper_0_255":180.0,"phase":"close"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.179999999999761,"qpos":[-1.5887150099117373,-1.6088352321073427,1.6766390464463883,-1.6388815740774054,-1.5708137073144885,-0.017923908619905306,0.46108330210603193,0.00027929105690109704,0.4581709330567396,-0.4506552164090018,0.4610834655576994,0.00027333538116260466,0.4581078520997463,-0.4508219986429374,-0.12546761176855623,0.47733604134072494,0.29954896113926915,0.9999999970681529,7.307864020117444e-05,-2.265663253072353e-05,3.143968435697594e-06],"qvel":[5.353073299648747e-05,-0.0012933952979312885,0.0029091248446363282,-0.004807872380764295,-3.445433238356525e-05,-2.3810864489914005e-05,0.0027703910684840952,0.00010335969109684197,0.0026697657028250674,-0.003940593752270732,0.002770077399568724,0.00011617454277735047,0.0026751016795192664,-0.00403615527703592,-1.5685871632900642e-05,0.00019914658629220747,-0.0003049720841957393,0.0015943477466540566,0.00012837987054204085,7.538295018107253e-05],"joint_position_rad":[-1.5887150099117373,-1.6088352321073427,1.6766390464463883,-1.6388815740774054,-1.5708137073144885,-0.017923908619905306],"joint_velocity_rad_s":[5.353073299648747e-05,-0.0012933952979312885,0.0029091248446363282,-0.004807872380764295,-3.445433238356525e-05,-2.3810864489914005e-05],"linkage_position_rad":[0.46108330210603193,0.00027929105690109704,0.4581709330567396,-0.4506552164090018,0.4610834655576994,0.00027333538116260466,0.4581078520997463,-0.4508219986429374],"tcp_position_m":[-0.12546296969611714,0.4773332531418887,0.3053619775918821],"tcp_quaternion_wxyz":[-9.144841701236168e-05,0.7071049275270674,0.7071086207862937,0.00010730252990573492],"object_position_m":[-0.12546761176855623,0.47733604134072494,0.29954896113926915],"object_quaternion_wxyz":[0.9999999970681529,7.307864020117444e-05,-2.265663253072353e-05,3.143968435697594e-06],"object_linear_velocity_m_s":[-1.5685871632900642e-05,0.00019914658629220747,-0.0003049720841957393],"object_angular_velocity_rad_s":[0.0015943435215031148,0.00012837887126896543,7.54739587673673e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632823817803553,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":45.84748034522088,"right":45.88217194667526},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887251712384387,-1.6182867879558134,1.6671339503192661,-1.644557995675544,-1.5707952645839522,-0.01792883005127332,180.0],"actuator_force":[-0.0417349466010819,-18.38575357776881,-20.17384219209862,-2.3574235609928564,0.012666798506415944,-7.962923501558805e-05,5.0],"issued_joint_targets_rad":[-1.588725203284801,-1.608644084492561,1.67758219228169,-1.639730504214449,-1.5707966488777536,-0.017928862561614897],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.588725203284801,-1.608644084492561,1.67758219228169,-1.639730504214449,-1.5707966488777536,-0.017928862561614897],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.1999999999997586,"qpos":[-1.5887140052849675,-1.6088600185079645,1.676693967080072,-1.638973355060495,-1.5708142858798906,-0.0179243647004319,0.46110218847340134,0.0002791053913260855,0.45818895822261596,-0.45067569167184035,0.4611023310987464,0.0002733404117443854,0.45812593179369815,-0.4508438866517312,-0.12546791000062288,0.4773399919686456,0.29954415947776863,0.999999995886219,8.809198937972473e-05,-2.127194014611149e-05,3.855869320733584e-06],"qvel":[4.7373404085004005e-05,-0.0011915841287968164,0.002600808127343259,-0.004395103921870405,-2.476801646687076e-05,-2.1793019393915445e-05,-0.0001451412677142741,-4.959186017599633e-05,-0.00015168214577666617,0.0005218239417997296,-0.0001461982318395373,-4.1777451173575886e-05,-0.00014962951624197877,0.0004633796449589344,-1.4276279764665429e-05,0.0001961840708391004,-0.0001928049718207322,0.0014183310776394178,0.00014396453616136902,6.743494364451313e-05],"joint_position_rad":[-1.5887140052849675,-1.6088600185079645,1.676693967080072,-1.638973355060495,-1.5708142858798906,-0.0179243647004319],"joint_velocity_rad_s":[4.7373404085004005e-05,-0.0011915841287968164,0.002600808127343259,-0.004395103921870405,-2.476801646687076e-05,-2.1793019393915445e-05],"linkage_position_rad":[0.46110218847340134,0.0002791053913260855,0.45818895822261596,-0.45067569167184035,0.4611023310987464,0.0002733404117443854,0.45812593179369815,-0.4508438866517312],"tcp_position_m":[-0.12546322171048638,0.47733756394717053,0.3053559609849199],"tcp_quaternion_wxyz":[-0.00011264160208744307,0.7071044079073412,0.7071091335935755,0.00012968585270056003],"object_position_m":[-0.12546791000062288,0.4773399919686456,0.29954415947776863],"object_quaternion_wxyz":[0.999999995886219,8.809198937972473e-05,-2.127194014611149e-05,3.855869320733584e-06],"object_linear_velocity_m_s":[-1.4276279764665429e-05,0.0001961840708391004,-0.0001928049718207322],"object_angular_velocity_rad_s":[0.0014183270966589005,0.00014396358543795624,6.75206490287944e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463264423337115,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":45.827969930481835,"right":45.86057437080836},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-1.5887252029922017,-1.6182865820108014,1.6671344481850552,-1.6445588784848153,-1.5707952369620373,-0.017928862066121508,180.0],"actuator_force":[-0.04134477610250542,-18.376493354155173,-20.159361040971362,-2.353251319973083,0.012001260573356376,-6.938090541197539e-05,5.0],"issued_joint_targets_rad":[-1.5887390086898203,-1.611708575105315,1.633448255683719,-1.5927449684344193,-1.570782042144389,-0.017942640458218254],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5887390086898203,-1.611708575105315,1.633448255683719,-1.5927449684344193,-1.570782042144389,-0.017942640458218254],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2199999999997564,"qpos":[-1.5887144610051918,-1.6089046027952012,1.675522897109322,-1.6375418951233225,-1.5708115196317443,-0.01792605480208202,0.4611610746907046,0.0003006399635095392,0.4582590153598311,-0.4508600621222382,0.46115960515792265,0.0002905364846185622,0.45817915833537504,-0.45102138710877737,-0.12547940447703376,0.4772272837821295,0.3000664264089182,0.9999999664364135,-0.0002564543556212656,-2.5650245384338673e-05,2.6465089566554018e-05],"qvel":[0.00017531055577660117,-0.0014004476618592883,-0.12434821559870841,0.14045170092467926,0.0001591290961307641,-8.398061351906843e-05,0.0023544826474260257,0.0005452002513154357,0.002557283019274805,-0.006544312724767699,0.0023016021548941815,0.0002807034903710291,0.0021060088734763285,-0.004987720312941058,-0.0005679890527165896,-0.005108646789426965,0.05280514421162489,-0.04472592787116307,-0.0008077790848728091,0.003442984331525731],"joint_position_rad":[-1.5887144610051918,-1.6089046027952012,1.675522897109322,-1.6375418951233225,-1.5708115196317443,-0.01792605480208202],"joint_velocity_rad_s":[0.00017531055577660117,-0.0014004476618592883,-0.12434821559870841,0.14045170092467926,0.0001591290961307641,-8.398061351906843e-05],"linkage_position_rad":[0.4611610746907046,0.0003006399635095392,0.4582590153598311,-0.4508600621222382,0.46115960515792265,0.0002905364846185622,0.45817915833537504,-0.45102138710877737],"tcp_position_m":[-0.12546446636057207,0.47729551953807525,0.30580910595984345],"tcp_quaternion_wxyz":[-3.871763529639042e-05,0.7071039797185761,0.7071095797390787,5.107170413587916e-05],"object_position_m":[-0.12547940447703376,0.4772272837821295,0.3000664264089182],"object_quaternion_wxyz":[0.9999999664364135,-0.0002564543556212656,-2.5650245384338673e-05,2.6465089566554018e-05],"object_linear_velocity_m_s":[-0.0005679890527165896,-0.005108646789426965,0.05280514421162489],"object_angular_velocity_rad_s":[-0.044726061677910184,-0.0008083809852847387,0.0034411043372699567],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632793849039823,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.180878782296006,"right":46.170927138122856},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887376208138404,-1.6213558729002515,1.6371343538779712,-1.614556520071322,-1.5707806209303403,-0.017942641079852398,180.0],"actuator_force":[-0.11644383960810956,-24.34236114535679,-27.0378002232178,-2.552482566467802,-0.0004635589111785521,0.0001049224667166726,5.0],"issued_joint_targets_rad":[-1.5887380593035878,-1.6118130973344014,1.6323928905596443,-1.5915840023724293,-1.570782100671662,-0.017941698656562945],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5887380593035878,-1.6118130973344014,1.6323928905596443,-1.5915840023724293,-1.570782100671662,-0.017941698656562945],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.239999999999754,"qpos":[-1.5887215824041723,-1.6089964618989139,1.6719107218930214,-1.63360442616038,-1.570807683240735,-0.01792756480944167,0.4611749801048456,0.00029979630535908314,0.45827418851728796,-0.4508867427440931,0.4611736056411143,0.0002877327326067385,0.4581999572837633,-0.4510194992198024,-0.12547351910971793,0.47716259952026296,0.301569216917056,0.9999998226581953,-0.0005933593703326979,-2.691671460574652e-05,4.340192009465027e-05],"qvel":[-0.0008700633104706453,-0.01129817267243029,-0.19819238833056657,0.2129434399262428,0.00010162079080780037,-7.105854782688662e-05,0.00023587502729604794,-0.00040791904040808207,0.0002791829087679085,0.0014228452254972177,0.00030530919586039515,-0.00025987372769311533,0.0011627973427522386,0.0017386949858999494,0.0011778599033761415,-0.0008937444353873286,0.08235578964975074,-0.0061784740229265936,0.0006287274861452447,-0.001003943481781863],"joint_position_rad":[-1.5887215824041723,-1.6089964618989139,1.6719107218930214,-1.63360442616038,-1.570807683240735,-0.01792756480944167],"joint_velocity_rad_s":[-0.0008700633104706453,-0.01129817267243029,-0.19819238833056657,0.2129434399262428,0.00010162079080780037,-7.105854782688662e-05],"linkage_position_rad":[0.4611749801048456,0.00029979630535908314,0.45827418851728796,-0.4508867427440931,0.4611736056411143,0.0002877327326067385,0.4581999572837633,-0.4510194992198024],"tcp_position_m":[-0.1254621336841619,0.4772916809694736,0.30723320906635254],"tcp_quaternion_wxyz":[4.0941053004789746e-05,0.7071059635398619,0.7071075968172033,-3.425773137597202e-05],"object_position_m":[-0.12547351910971793,0.47716259952026296,0.301569216917056],"object_quaternion_wxyz":[0.9999998226581953,-0.0005933593703326979,-2.691671460574652e-05,4.340192009465027e-05],"object_linear_velocity_m_s":[0.0011778599033761415,-0.0008937444353873286,0.08235578964975074],"object_angular_velocity_rad_s":[-0.006178474449144379,0.0006269991325373016,-0.001005021187584178],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632553761869222,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08968817427154,"right":46.09165161004587},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887337555538241,-1.6214715608515575,1.6219440413907085,-1.5964055620874673,-1.5707806666309776,-0.017941701388988634,180.0],"actuator_force":[0.3236790248847683,-20.43092883631516,-20.656405672399615,-2.694911956167971,0.0033462257978271737,3.7565009206375066e-05,5.0],"issued_joint_targets_rad":[-1.5887423975565367,-1.6118816310001094,1.628828304378438,-1.5879499814117157,-1.5707821067735015,-0.017946031168406623],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5887423975565367,-1.6118816310001094,1.628828304378438,-1.5879499814117157,-1.5707821067735015,-0.017946031168406623],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.259999999999752,"qpos":[-1.5887282208660305,-1.6092475103026038,1.6678264212612914,-1.6292461819746595,-1.570805841113498,-0.017929310656773775,0.4611829569456331,0.00029543398755979837,0.4582817593236764,-0.45087035871047765,0.4611822999926121,0.0002873416324422425,0.4582149066517655,-0.4510237989682401,-0.125463738685802,0.47715346104505424,0.3032661625432324,0.9999998121339594,-0.0006112159788034203,-2.4120983059089898e-05,3.956327140925194e-05],"qvel":[-0.0001977001789403082,-0.014198172105166848,-0.19747758856510905,0.20813783829755014,9.705756256005696e-05,-8.430381657364458e-05,0.000381942830038954,-0.00014189116554255156,0.0003404741416240491,0.0004706675482365173,0.0004105961514648901,5.5952034745890487e-05,0.0006312863394163517,-0.0007810734220933903,0.0002626308970419263,0.00047792179713975445,0.08241433708360073,0.007764088803344061,0.0003723267374103107,-0.0007059314741050324],"joint_position_rad":[-1.5887282208660305,-1.6092475103026038,1.6678264212612914,-1.6292461819746595,-1.570805841113498,-0.017929310656773775],"joint_velocity_rad_s":[-0.0001977001789403082,-0.014198172105166848,-0.19747758856510905,0.20813783829755014,9.705756256005696e-05,-8.430381657364458e-05],"linkage_position_rad":[0.4611829569456331,0.00029543398755979837,0.4582817593236764,-0.45087035871047765,0.4611822999926121,0.0002873416324422425,0.4582149066517655,-0.4510237989682401],"tcp_position_m":[-0.12545960312252355,0.47728322234718107,0.30892315289234645],"tcp_quaternion_wxyz":[4.8226268829385526e-05,0.707107692863658,0.7071058665479696,-4.3135902354182816e-05],"object_position_m":[-0.125463738685802,0.47715346104505424,0.3032661625432324],"object_quaternion_wxyz":[0.9999998121339594,-0.0006112159788034203,-2.4120983059089898e-05,3.956327140925194e-05],"object_linear_velocity_m_s":[0.0002626308970419263,0.00047792179713975445,0.08241433708360073],"object_angular_velocity_rad_s":[0.007764093409717556,0.0003720780806927084,-0.0007060119112195677],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632306510431446,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09196438093561,"right":46.09324463789824},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887379678487101,-1.621537694776385,1.6183771225057226,-1.5927712304263895,-1.570780666738563,-0.017946034019777714,180.0],"actuator_force":[0.05958610621701155,-18.901100105495516,-19.907562085094014,-2.576308055619961,0.002881431211449126,6.870015539561791e-05,5.0],"issued_joint_targets_rad":[-1.5887473534074072,-1.6119585829982204,1.624594655906416,-1.5836397951217052,-1.5707819909319085,-0.01795097927501544],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5887473534074072,-1.6119585829982204,1.624594655906416,-1.5836397951217052,-1.5707819909319085,-0.01795097927501544],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.27999999999975,"qpos":[-1.58872942345411,-1.6095001771769308,1.6637293073683275,-1.6249058027158059,-1.5708035893734864,-0.017931364674193782,0.46118460478044115,0.00029481470903099495,0.4582828702372482,-0.4508671041086336,0.46118409650573805,0.00028808235018711086,0.4582176500868724,-0.4510311957690968,-0.12546387108489873,0.4771475830559504,0.3049657928793464,0.9999998152013923,-0.0006063698165297093,-2.090342801703036e-05,3.84171197225639e-05],"qvel":[-0.00016666625550114343,-0.01349040783916489,-0.1982477030464504,0.20793852468358887,9.775775711864946e-05,-9.898374600041286e-05,1.4103584034366335e-05,-6.254945469085418e-05,2.8504647765378212e-05,0.00032147549129083185,2.6653046653612177e-05,-2.7211139038641658e-05,0.0001600323024314648,0.0001512589406434226,0.0001578829848484496,0.0004943788667948366,0.08244979921790604,0.007971451146831982,0.0005547117763888863,-0.0006695277420626575],"joint_position_rad":[-1.58872942345411,-1.6095001771769308,1.6637293073683275,-1.6249058027158059,-1.5708035893734864,-0.017931364674193782],"joint_velocity_rad_s":[-0.00016666625550114343,-0.01349040783916489,-0.1982477030464504,0.20793852468358887,9.775775711864946e-05,-9.898374600041286e-05],"linkage_position_rad":[0.46118460478044115,0.00029481470903099495,0.4582828702372482,-0.4508671041086336,0.46118409650573805,0.00028808235018711086,0.4582176500868724,-0.4510311957690968],"tcp_position_m":[-0.1254597623913357,0.4772746106849414,0.31062235228218465],"tcp_quaternion_wxyz":[4.415214262201883e-05,0.707107392111708,0.7071061677205949,-4.05346847888557e-05],"object_position_m":[-0.12546387108489873,0.4771475830559504,0.3049657928793464],"object_quaternion_wxyz":[0.9999998152013923,-0.0006063698165297093,-2.090342801703036e-05,3.84171197225639e-05],"object_linear_velocity_m_s":[0.0001578829848484496,0.0004943788667948366,0.08244979921790604],"object_angular_velocity_rad_s":[0.00797143653158658,0.000554512087583534,-0.0006698670809912857],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322860035313766,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08992591299841,"right":46.09045231536058},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887429183543695,-1.6216115978478065,1.614141189286562,-1.5884610340834955,-1.570780543432305,-0.017950982115445286,180.0],"actuator_force":[0.03967670168140103,-18.826678206085035,-19.87715494495069,-2.571468152203579,0.0017471948788170266,8.965397429072652e-05,5.0],"issued_joint_targets_rad":[-1.5887474749475243,-1.612017831822474,1.6203208093298926,-1.579307311392953,-1.5707818503656805,-0.01795110461683586],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5887474749475243,-1.612017831822474,1.6203208093298926,-1.579307311392953,-1.5707818503656805,-0.01795110461683586],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.2999999999997476,"qpos":[-1.5887302681503503,-1.609735340766073,1.6596154058136323,-1.6205666845319489,-1.5708014931142422,-0.017933256544002376,0.46118360781294077,0.00029472352276129117,0.4582818524627398,-0.45086514228570646,0.461183108351473,0.000288082692937317,0.4582167992385504,-0.45103031240068586,-0.12546436646752773,0.4771418021669733,0.3066656863690006,0.9999998181101313,-0.0006017426401814816,-1.697263271533782e-05,3.738222265163523e-05],"qvel":[-0.0001633400031146366,-0.01260543305195681,-0.199057117352538,0.20790184674479978,8.845917237516478e-05,-9.006463600878768e-05,3.713952262967981e-05,-6.0328671242968275e-05,5.262310289747894e-05,0.0002499386112653205,4.8955289720827625e-05,-2.711672169081286e-05,0.00017451638667909371,0.00015330662349470533,0.00017321286468611734,0.000496370422482319,0.08244239749645783,0.007924012846754595,0.0005559996965924279,-0.000672735761020945],"joint_position_rad":[-1.5887302681503503,-1.609735340766073,1.6596154058136323,-1.6205666845319489,-1.5708014931142422,-0.017933256544002376],"joint_velocity_rad_s":[-0.0001633400031146366,-0.01260543305195681,-0.199057117352538,0.20790184674479978,8.845917237516478e-05,-9.006463600878768e-05],"linkage_position_rad":[0.46118360781294077,0.00029472352276129117,0.4582818524627398,-0.45086514228570646,0.461183108351473,0.000288082692937317,0.4582167992385504,-0.45103031240068586],"tcp_position_m":[-0.1254600499654555,0.4772661072687407,0.3123219906064686],"tcp_quaternion_wxyz":[3.994462544138916e-05,0.7071070221375478,0.7071065381031151,-3.7683193918239754e-05],"object_position_m":[-0.12546436646752773,0.4771418021669733,0.3066656863690006],"object_quaternion_wxyz":[0.9999998181101313,-0.0006017426401814816,-1.697263271533782e-05,3.738222265163523e-05],"object_linear_velocity_m_s":[0.00017321286468611734,0.000496370422482319,0.08244239749645783],"object_angular_velocity_rad_s":[0.007923994128853926,0.0005557822619805962,-0.0006731357853030971],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632293006249481,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0888428696745,"right":46.089376057427536},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887430417922805,-1.6216679639223293,1.609865228393953,-1.5841285531202403,-1.5707803958515447,-0.017951107440727528,180.0],"actuator_force":[0.03978871738536327,-18.82307309172984,-19.877507898343538,-2.571118968625683,0.0017027141112748723,8.101523830106316e-05,5.0],"issued_joint_targets_rad":[-1.5887473629010975,-1.6120594022010741,1.6160291489897902,-1.5749747028028647,-1.5707817093000842,-0.017950996594258584],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5887473629010975,-1.6120594022010741,1.6160291489897902,-1.5749747028028647,-1.5707817093000842,-0.017950996594258584],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3199999999997454,"qpos":[-1.5887310119253697,-1.6099520722222118,1.6554846927968547,-1.6162282007258961,-1.5707995830861954,-0.017934957822325546,0.46118348313264934,0.0002946203999801348,0.4582816387607919,-0.4508643451734924,0.4611830012771281,0.00028819075369348226,0.4582168011545547,-0.45103090545010593,-0.1254647104333454,0.4771361379288792,0.30836548466513247,0.9999998206590424,-0.0005976478914054473,-1.3255276885083105e-05,3.637555137027372e-05],"qvel":[-0.00016206912450719777,-0.011714379869784896,-0.19986706098324575,0.20787150084210831,7.954996075581257e-05,-8.092632202519193e-05,6.940231044985819e-05,-6.175823240021469e-05,8.178990018477931e-05,0.00021939219474277513,8.183225772960643e-05,-2.3821477732477338e-05,0.00020880692734484785,9.64703495368848e-05,0.00017847682547961089,0.0004984275915445798,0.08243230229306325,0.007874115469991763,0.0005347586792103066,-0.0006772965938993346],"joint_position_rad":[-1.5887310119253697,-1.6099520722222118,1.6554846927968547,-1.6162282007258961,-1.5707995830861954,-0.017934957822325546],"joint_velocity_rad_s":[-0.00016206912450719777,-0.011714379869784896,-0.19986706098324575,0.20787150084210831,7.954996075581257e-05,-8.092632202519193e-05],"linkage_position_rad":[0.46118348313264934,0.0002946203999801348,0.4582816387607919,-0.4508643451734924,0.4611830012771281,0.00028819075369348226,0.4582168011545547,-0.45103090545010593],"tcp_position_m":[-0.1254603355401528,0.47725773245005054,0.31402154862810727],"tcp_quaternion_wxyz":[3.6146531561552664e-05,0.707106683819349,0.7071068767575944,-3.512193991678231e-05],"object_position_m":[-0.1254647104333454,0.4771361379288792,0.30836548466513247],"object_quaternion_wxyz":[0.9999998206590424,-0.0005976478914054473,-1.3255276885083105e-05,3.637555137027372e-05],"object_linear_velocity_m_s":[0.00017847682547961089,0.0004984275915445798,0.08243230229306325],"object_angular_velocity_rad_s":[0.007874094535536188,0.0005345217020557661,-0.0006777269002576249],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632294215800456,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08912120315846,"right":46.08967294005712},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887429320478095,-1.6217068626905735,1.6055716306929337,-1.5797959443165106,-1.5707802483948408,-0.017950999402858978,180.0],"actuator_force":[0.04098740492327124,-18.823828988809055,-19.87929981454363,-2.571021879518071,0.0017123496016893114,7.184193580478393e-05,5.0],"issued_joint_targets_rad":[-1.5887472505637144,-1.6120832972452537,1.61172092011426,-1.5706432024865564,-1.570781568922572,-0.017950887911228],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.5887472505637144,-1.6120832972452537,1.61172092011426,-1.5706432024865564,-1.570781568922572,-0.017950887911228],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.339999999999743,"qpos":[-1.5887316774342664,-1.6101503935662822,1.6513371957190797,-1.6118903691752247,-1.5707978425978775,-0.01793648561646558,0.461183549809564,0.0002945048557944814,0.45828159695018894,-0.4508636739712108,0.46118308921239753,0.0002883104420416817,0.458217001936567,-0.4510317968604457,-0.12546503586845384,0.4771305977641754,0.3100651814641586,0.9999998228854703,-0.0005940380891715621,-9.744106130555426e-06,3.5395319877221806e-05],"qvel":[-0.00016130406503324862,-0.01082652001158863,-0.2006756326150851,0.20783898540653528,7.151386457560081e-05,-7.266072980204737e-05,6.824398140790749e-05,-6.230495870246649e-05,8.06548087317832e-05,0.00022437727531281285,8.076447946227202e-05,-2.453560204260787e-05,0.0002085584871036152,0.00010267977497296044,0.0001812512472785731,0.0005006197986227193,0.08242258062509164,0.00782879458543757,0.000519647028636713,-0.0006817917708975471],"joint_position_rad":[-1.5887316774342664,-1.6101503935662822,1.6513371957190797,-1.6118903691752247,-1.5707978425978775,-0.01793648561646558],"joint_velocity_rad_s":[-0.00016130406503324862,-0.01082652001158863,-0.2006756326150851,0.20783898540653528,7.151386457560081e-05,-7.266072980204737e-05],"linkage_position_rad":[0.461183549809564,0.0002945048557944814,0.45828159695018894,-0.4508636739712108,0.46118308921239753,0.0002883104420416817,0.458217001936567,-0.4510317968604457],"tcp_position_m":[-0.1254606125639276,0.4772494894544964,0.315720997635496],"tcp_quaternion_wxyz":[3.27475133784639e-05,0.7071063791258477,0.7071071817255598,-3.285222409209528e-05],"object_position_m":[-0.12546503586845384,0.4771305977641754,0.3100651814641586],"object_quaternion_wxyz":[0.9999998228854703,-0.0005940380891715621,-9.744106130555426e-06,3.5395319877221806e-05],"object_linear_velocity_m_s":[0.0001812512472785731,0.0005006197986227193,0.08242258062509164],"object_angular_velocity_rad_s":[0.007828771099782705,0.0005193909365504086,-0.0006822564301254783],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632293543409573,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08915989573226,"right":46.08971694568043},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887428220351556,-1.6217282984699928,1.601261641499892,-1.5754644402580231,-1.5707801021955659,-0.017950890706016784,180.0],"actuator_force":[0.042232424234953214,-18.825201802785614,-19.880855392341346,-2.5709340820528723,0.0017188146982789476,6.352820460264752e-05,5.0],"issued_joint_targets_rad":[-1.5887471496432428,-1.6120895258947496,1.6073961243677952,-1.566312803328787,-1.570781429146747,-0.017950790278774473],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5887471496432428,-1.6120895258947496,1.6073961243677952,-1.566312803328787,-1.570781429146747,-0.017950790278774473],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.359999999999741,"qpos":[-1.5887322735899687,-1.6103303739051935,1.6471729362584124,-1.6075532324357997,-1.5707962552058685,-0.017937857559218284,0.4611835511506423,0.0002943903778575297,0.45828149641284677,-0.4508629248561379,0.4611831109070594,0.00028841944121515284,0.45821713394357566,-0.4510325420977255,-0.12546535322064117,0.4771251845145194,0.3117647801115805,0.9999998248245768,-0.0005908667509975504,-6.404279911588104e-06,3.444245898155934e-05],"qvel":[-0.00016093770979458375,-0.009942071565367746,-0.20148316905792998,0.20780442076160804,6.424935341737009e-05,-6.523812886120696e-05,6.740170309637238e-05,-6.242808724897942e-05,7.99947584332015e-05,0.00022525613915121842,7.99713976824374e-05,-2.4952443156629e-05,0.00020846153000684265,0.00010683912366875128,0.000184214827745931,0.0005029319852244848,0.08241278068830156,0.007787830127858043,0.0005061313409808348,-0.0006862138594032697],"joint_position_rad":[-1.5887322735899687,-1.6103303739051935,1.6471729362584124,-1.6075532324357997,-1.5707962552058685,-0.017937857559218284],"joint_velocity_rad_s":[-0.00016093770979458375,-0.009942071565367746,-0.20148316905792998,0.20780442076160804,6.424935341737009e-05,-6.523812886120696e-05],"linkage_position_rad":[0.4611835511506423,0.0002943903778575297,0.45828149641284677,-0.4508629248561379,0.4611831109070594,0.00028841944121515284,0.45821713394357566,-0.4510325420977255],"tcp_position_m":[-0.12546088096699953,0.47724138056235244,0.317420336185711],"tcp_quaternion_wxyz":[2.971041305551155e-05,0.7071061049816543,0.7071074560937705,-3.084737796617955e-05],"object_position_m":[-0.12546535322064117,0.4771251845145194,0.3117647801115805],"object_quaternion_wxyz":[0.9999998248245768,-0.0005908667509975504,-6.404279911588104e-06,3.444245898155934e-05],"object_linear_velocity_m_s":[0.000184214827745931,0.0005029319852244848,0.08241278068830156],"object_angular_velocity_rad_s":[0.007787804065102625,0.0005058565877978648,-0.0006867120587888956],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463229324364972,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08911426365759,"right":46.089676192032684},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742723435056,-1.6217322790931235,1.5969352622301767,-1.5711340340948512,-1.570779957111444,-0.017950793061114106,180.0],"actuator_force":[0.04347539374339249,-18.826981749713013,-19.882080433299507,-2.5708429056865043,0.0017241118704305336,5.606193820995031e-05,5.0],"issued_joint_targets_rad":[-1.588747060261519,-1.6120780962669268,1.6030546924290556,-1.5619834285126144,-1.5707812898335594,-0.017950703850577468],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.588747060261519,-1.6120780962669268,1.6030546924290556,-1.5619834285126144,-1.5707812898335594,-0.017950703850577468],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3799999999997388,"qpos":[-1.5887328079463847,-1.6104920790881188,1.6429919272909477,-1.6032168230798582,-1.570794806301296,-0.017939089662561705,0.46118354177617565,0.0002942806375958174,0.4582813897077562,-0.4508621952814598,0.461183121038246,0.0002885239478189416,0.45821725050300566,-0.4510332442597404,-0.125465659793459,0.47711990067629984,0.31346427983658515,0.9999998265068895,-0.0005880921299921085,-3.2253881466123253e-06,3.351767692729063e-05],"qvel":[-0.00016092867262639877,-0.00906076470539162,-0.20229009449583543,0.20776835456911472,5.768058176021395e-05,-5.8578428642613205e-05,6.884811523134182e-05,-6.25299856936665e-05,8.149607510451921e-05,0.00022320307744748107,8.1479228418951e-05,-2.5221814251145043e-05,0.00021063833411779617,0.00010734328846576457,0.0001872272568710586,0.0005053629933221185,0.08240289043791396,0.007750799057317343,0.0004935076696978295,-0.0006905875830825394],"joint_position_rad":[-1.5887328079463847,-1.6104920790881188,1.6429919272909477,-1.6032168230798582,-1.570794806301296,-0.017939089662561705],"joint_velocity_rad_s":[-0.00016092867262639877,-0.00906076470539162,-0.20229009449583543,0.20776835456911472,5.768058176021395e-05,-5.8578428642613205e-05],"linkage_position_rad":[0.46118354177617565,0.0002942806375958174,0.4582813897077562,-0.4508621952814598,0.461183121038246,0.0002885239478189416,0.45821725050300566,-0.4510332442597404],"tcp_position_m":[-0.12546114085659937,0.477233408025693,0.31911956424734966],"tcp_quaternion_wxyz":[2.700027448696672e-05,0.707105858402579,0.7071077028557892,-2.908169302680844e-05],"object_position_m":[-0.125465659793459,0.47711990067629984,0.31346427983658515],"object_quaternion_wxyz":[0.9999998265068895,-0.0005880921299921085,-3.2253881466123253e-06,3.351767692729063e-05],"object_linear_velocity_m_s":[0.0001872272568710586,0.0005053629933221185,0.08240289043791396],"object_angular_velocity_rad_s":[0.007750770441207959,0.0004932146761434237,-0.0006911178682421026],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322930578213906,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0890881725977,"right":46.08965515158265},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887426363629222,-1.6217188115503263,1.5925924233069981,-1.5668046492916015,-1.5707798129544344,-0.01795070662170329,180.0],"actuator_force":[0.04471463597565162,-18.829159042258652,-19.882970169564942,-2.5707485627831375,0.001728615254705801,4.9363293468829283e-05,5.0],"issued_joint_targets_rad":[-1.5887469822147797,-1.6120490153786762,1.598696549492298,-1.5576549968141917,-1.5707811508545801,-0.017950628453108023],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.5887469822147797,-1.6120490153786762,1.598696549492298,-1.5576549968141917,-1.5707811508545801,-0.017950628453108023],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.3999999999997366,"qpos":[-1.588733287298539,-1.6106355693922592,1.638794173335858,-1.5988811628464121,-1.5707934826574699,-0.017940196388600636,0.4611835375787903,0.00029417507059896107,0.4582812915998282,-0.45086150000892466,0.46118313562340624,0.0002886245433356922,0.4582173675583356,-0.4510339257023129,-0.1254659555481971,0.47711474874220117,0.3151636806832799,0.9999998279593776,-0.0005856765453818216,-1.9842023004277383e-07,3.2621459573601266e-05],"qvel":[-0.00016124206068160674,-0.00818232861047677,-0.20309680943853703,0.20773130629691666,5.174238306847797e-05,-5.260770667519508e-05,7.021872738291873e-05,-6.267246495026049e-05,8.291382158342732e-05,0.00022154235992008001,8.291387100508485e-05,-2.551197506277122e-05,0.00021275872119712723,0.00010808330202657236,0.00019022686011786367,0.0005079139176260484,0.08239294851792506,0.007717319682186576,0.00048180153624838095,-0.0006949346276228261],"joint_position_rad":[-1.588733287298539,-1.6106355693922592,1.638794173335858,-1.5988811628464121,-1.5707934826574699,-0.017940196388600636],"joint_velocity_rad_s":[-0.00016124206068160674,-0.00818232861047677,-0.20309680943853703,0.20773130629691666,5.174238306847797e-05,-5.260770667519508e-05],"linkage_position_rad":[0.4611835375787903,0.00029417507059896107,0.4582812915998282,-0.45086150000892466,0.46118313562340624,0.0002886245433356922,0.4582173675583356,-0.4510339257023129],"tcp_position_m":[-0.125461392346525,0.47722557412763283,0.3208186818022759],"tcp_quaternion_wxyz":[2.4585433287275737e-05,0.7071056366829145,0.7071079247249328,-2.7531876515959038e-05],"object_position_m":[-0.1254659555481971,0.47711474874220117,0.3151636806832799],"object_quaternion_wxyz":[0.9999998279593776,-0.0005856765453818216,-1.9842023004277383e-07,3.2621459573601266e-05],"object_linear_velocity_m_s":[0.00019022686011786367,0.0005079139176260484,0.08239294851792506],"object_angular_velocity_rad_s":[0.0077172885340722076,0.0004814906931868941,-0.0006954957428459764],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632292836992757,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08906695668141,"right":46.08963888233451},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887425606097718,-1.6216879018333341,1.588233049680816,-1.5624762048799608,-1.5707796695517715,-0.017950631214139475,180.0],"actuator_force":[0.04595020180704523,-18.831733437958974,-19.88352353466962,-2.57065164646599,0.0017323145423233655,4.3357898100282455e-05,5.0],"issued_joint_targets_rad":[-1.5887469152768567,-1.6120022890336136,1.5943216186981781,-1.5533274261251186,-1.5707810120924623,-0.017950563888000252],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.5887469152768567,-1.6120022890336136,1.5943216186981781,-1.5533274261251186,-1.5707810120924623,-0.017950563888000252],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4199999999997344,"qpos":[-1.5887337177801926,-1.610760899845576,1.634579671140322,-1.5945462635408003,-1.5707922722953183,-0.017941190794311546,0.46118353441284515,0.0002940732140814883,0.45828119794423516,-0.45086083072481353,0.4611831505437635,0.000288721020132495,0.45821748126972894,-0.4510345800842463,-0.1254662407742088,0.4771097312317301,0.31686298296723403,0.9999998292059488,-0.0005835859318670607,2.685475665683831e-06,3.175409172511213e-05],"qvel":[-0.00016184669683396759,-0.007306512334303729,-0.20390368519312094,0.20769374988630843,4.63749963273544e-05,-4.725901215304513e-05,7.144886549442594e-05,-6.28275857862621e-05,8.419285038545981e-05,0.00022013331368653802,8.420937181260626e-05,-2.5802326013284326e-05,0.00021475582089960338,0.00010898853151451896,0.0001932167137744999,0.0005105860839754167,0.08238295209971613,0.007687047333603922,0.0004709627694293845,-0.0006992744611037837],"joint_position_rad":[-1.5887337177801926,-1.610760899845576,1.634579671140322,-1.5945462635408003,-1.5707922722953183,-0.017941190794311546],"joint_velocity_rad_s":[-0.00016184669683396759,-0.007306512334303729,-0.20390368519312094,0.20769374988630843,4.63749963273544e-05,-4.725901215304513e-05],"linkage_position_rad":[0.46118353441284515,0.0002940732140814883,0.45828119794423516,-0.45086083072481353,0.4611831505437635,0.000288721020132495,0.45821748126972894,-0.4510345800842463],"tcp_position_m":[-0.1254616355449364,0.47721788119493713,0.3225176888047435],"tcp_quaternion_wxyz":[2.2437247037287442e-05,0.707105437378993,0.7071081241510405,-2.6176868896141304e-05],"object_position_m":[-0.1254662407742088,0.4771097312317301,0.31686298296723403],"object_quaternion_wxyz":[0.9999998292059488,-0.0005835859318670607,2.685475665683831e-06,3.175409172511213e-05],"object_linear_velocity_m_s":[0.0001932167137744999,0.0005105860839754167,0.08238295209971613],"object_angular_velocity_rad_s":[0.0076870136766783595,0.000470634440464258,-0.0006998652507565926],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632292602316079,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089044073428944,"right":46.08962083039512},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742495944578,-1.6216395548190157,1.5838570642606882,-1.5581486189819673,-1.5707795267459368,-0.017950566639952207,180.0],"actuator_force":[0.04718234996289539,-18.834705013157873,-19.88373968201904,-2.5705527092143257,0.0017352750579675558,3.79783949728818e-05,5.0],"issued_joint_targets_rad":[-1.5887468592214187,-1.6119379217947485,1.5899298211938233,-1.5490006335435984,-1.5707808734397974,-0.017950509954396968],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.5887468592214187,-1.6119379217947485,1.5899298211938233,-1.5490006335435984,-1.5707808734397974,-0.017950509954396968],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.439999999999732,"qpos":[-1.5887341049301926,-1.6108681206078144,1.630348410237959,-1.5902121279048433,-1.5707911643729064,-0.017942084665885285,0.46118353132221007,0.00029397494849632013,0.458281107703673,-0.45086018550745416,0.4611831648668305,0.00028881352665523127,0.45821759087128183,-0.4510352073105583,-0.12546651569131906,0.47710485069437203,0.31856218689369215,0.9999998302678196,-0.0005817894971910897,5.434545761089875e-06,3.0915682079299425e-05],"qvel":[-0.00016271441092321817,-0.006433083167551824,-0.2047110664687602,0.20765611773096593,4.152422542447088e-05,-4.247180022287961e-05,7.26998313451954e-05,-6.298946741107758e-05,8.548812383137426e-05,0.00021874151780023333,8.552720328482332e-05,-2.608500729479601e-05,0.00021678605410944306,0.00010981525598180555,0.00019619924357053108,0.000513380971581109,0.0823728958950646,0.007659669716017972,0.00046092973092131523,-0.0007036240281434772],"joint_position_rad":[-1.5887341049301926,-1.6108681206078144,1.630348410237959,-1.5902121279048433,-1.5707911643729064,-0.017942084665885285],"joint_velocity_rad_s":[-0.00016271441092321817,-0.006433083167551824,-0.2047110664687602,0.20765611773096593,4.152422542447088e-05,-4.247180022287961e-05],"linkage_position_rad":[0.46118353132221007,0.00029397494849632013,0.458281107703673,-0.45086018550745416,0.4611831648668305,0.00028881352665523127,0.45821759087128183,-0.4510352073105583],"tcp_position_m":[-0.12546187055105093,0.4772103315993393,0.3242165851772224],"tcp_quaternion_wxyz":[2.052981498351995e-05,0.7071052582853268,0.7071083033446048,-2.4997633006046636e-05],"object_position_m":[-0.12546651569131906,0.47710485069437203,0.31856218689369215],"object_quaternion_wxyz":[0.9999998302678196,-0.0005817894971910897,5.434545761089875e-06,3.0915682079299425e-05],"object_linear_velocity_m_s":[0.00019619924357053108,0.000513380971581109,0.0823728958950646],"object_angular_velocity_rad_s":[0.007659633575658409,0.0004605842550846319,-0.000704243408861946],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632292363108854,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089020705531944,"right":46.089602191031084},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887424421364702,-1.6215737742342446,1.5794643879742296,-1.5538218089034936,-1.5707793843931626,-0.017950512698189883,180.0],"actuator_force":[0.04841135181413847,-18.838073985839856,-19.883617939955002,-2.570452272421676,0.0017375673294282024,3.316386998974963e-05,5.0],"issued_joint_targets_rad":[-1.58874681382849,-1.611855916975328,1.5855210761169551,-1.544674535371814,-1.5707807347980514,-0.017950466455614333],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.58874681382849,-1.611855916975328,1.5855210761169551,-1.544674535371814,-1.5707807347980514,-0.017950466455614333],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.45999999999973,"qpos":[-1.5887344537490544,-1.6109572773182494,1.626100373449363,-1.5858787504074685,-1.5707901490776703,-0.0179428886409039,0.4611835286094248,0.00029388015997680806,0.458281021046597,-0.450859563956347,0.461183178920135,0.00028890222868043814,0.45821769681349933,-0.4510358088682564,-0.12546678049546556,0.4771001097134324,0.3202612926056944,0.9999998311638492,-0.0005802594110073442,8.056451532607186e-06,3.010618785158143e-05],"qvel":[-0.00016381971325592153,-0.005561825073285878,-0.20551927422529434,0.2076188044862762,3.7141039841642364e-05,-3.819134856005625e-05,7.397153374138792e-05,-6.315985845239737e-05,8.679945934399672e-05,0.00021738011859530378,8.686727342128323e-05,-2.6362024558803226e-05,0.00021884918750766894,0.0001105783576717331,0.00019917536932045348,0.0005163002750742097,0.08236277759839494,0.007634904414062185,0.00045164740009221647,-0.0007079979499623747],"joint_position_rad":[-1.5887344537490544,-1.6109572773182494,1.626100373449363,-1.5858787504074685,-1.5707901490776703,-0.0179428886409039],"joint_velocity_rad_s":[-0.00016381971325592153,-0.005561825073285878,-0.20551927422529434,0.2076188044862762,3.7141039841642364e-05,-3.819134856005625e-05],"linkage_position_rad":[0.4611835286094248,0.00029388015997680806,0.458281021046597,-0.450859563956347,0.461183178920135,0.00028890222868043814,0.45821769681349933,-0.4510358088682564],"tcp_position_m":[-0.12546209745577128,0.47720292775967044,0.3259153708099748],"tcp_quaternion_wxyz":[1.883971778494892e-05,0.7071050974115644,0.7071084643000333,-2.3976962016972538e-05],"object_position_m":[-0.12546678049546556,0.4771001097134324,0.3202612926056944],"object_quaternion_wxyz":[0.9999998311638492,-0.0005802594110073442,8.056451532607186e-06,3.010618785158143e-05],"object_linear_velocity_m_s":[0.00019917536932045348,0.0005163002750742097,0.08236277759839494],"object_angular_velocity_rad_s":[0.007634865817085873,0.0004512850942532658,-0.0007086449053127337],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632292117557514,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08899725925502,"right":46.08958337719927},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887423989612033,-1.6214905626396825,1.5750549397516271,-1.5494956911337538,-1.5707792423620088,-0.0179504691920834,180.0],"actuator_force":[0.04963746100474964,-18.841840613551994,-19.88315770535428,-2.570350811770254,0.0017392538466083352,2.885926625495472e-05,5.0],"issued_joint_targets_rad":[-1.5887467788838456,-1.6117562766243532,1.581095300565334,-1.5403490471036412,-1.5707805960765848,-0.017950433198701207],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5887467788838456,-1.6117562766243532,1.581095300565334,-1.5403490471036412,-1.5707805960765848,-0.017950433198701207],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4799999999997278,"qpos":[-1.5887347687497302,-1.6110284114113769,1.6218355373296307,-1.5815461179603438,-1.5707892175283933,-0.017943612318797587,0.4611835263265288,0.00029378871543816765,0.45828093790257096,-0.45085896523187174,0.46118319277993336,0.00028898726281837637,0.45821779929904555,-0.4510363857415565,-0.12546703536967668,0.4770955109102894,0.321960300211597,0.9999998319108242,-0.0005789705204607117,1.0558327272219576e-05,2.9325436723928727e-05],"qvel":[-0.00016513953652646875,-0.004692537062968141,-0.20632860811777384,0.2075821707223235,3.318107320307387e-05,-3.4368197252987436e-05,7.525326955582745e-05,-6.333895697275678e-05,8.811674693691005e-05,0.00021606305680595573,8.821884237762748e-05,-2.663407342238653e-05,0.0002209347072460639,0.00011129525610868619,0.00020214593298583996,0.0005193458961257049,0.082352595122699,0.007612496104826492,0.00044306556979717095,-0.0007124087946735898],"joint_position_rad":[-1.5887347687497302,-1.6110284114113769,1.6218355373296307,-1.5815461179603438,-1.5707892175283933,-0.017943612318797587],"joint_velocity_rad_s":[-0.00016513953652646875,-0.004692537062968141,-0.20632860811777384,0.2075821707223235,3.318107320307387e-05,-3.4368197252987436e-05],"linkage_position_rad":[0.4611835263265288,0.00029378871543816765,0.45828093790257096,-0.45085896523187174,0.46118319277993336,0.00028898726281837637,0.45821779929904555,-0.4510363857415565],"tcp_position_m":[-0.12546231634257574,0.4771956721446633,0.3276140455631068],"tcp_quaternion_wxyz":[1.7345779535993337e-05,0.7071049529615065,0.7071086088168144,-2.309930344064358e-05],"object_position_m":[-0.12546703536967668,0.4770955109102894,0.321960300211597],"object_quaternion_wxyz":[0.9999998319108242,-0.0005789705204607117,1.0558327272219576e-05,2.9325436723928727e-05],"object_linear_velocity_m_s":[0.00020214593298583996,0.0005193458961257049,0.082352595122699],"object_angular_velocity_rad_s":[0.007612455078944319,0.00044268673071495347,-0.0007130823692745388],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322918649673375,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08897364322752,"right":46.0895643031711},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887423662005173,-1.6213899214088245,1.570628636494985,-1.5451701813349856,-1.5707791005320537,-0.017950435928604656,180.0],"actuator_force":[0.05086091303610374,-18.84600516970795,-19.88235842218137,-2.570248759553351,0.0017403908494770803,2.501482176420211e-05,5.0],"issued_joint_targets_rad":[-1.5887467541778502,-1.6116390015088409,1.5766524095566818,-1.536024083405787,-1.5707804571917727,-0.017950409993426994],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5887467541778502,-1.6116390015088409,1.5766524095566818,-1.536024083405787,-1.5707804571917727,-0.017950409993426994],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.4999999999997256,"qpos":[-1.5887350540035023,-1.6110815604004904,1.6175538725694363,-1.5772142105630742,-1.5707883616866511,-0.017944264360619695,0.4611835244478797,0.0002937004862941021,0.4582808581308374,-0.4508583884347727,0.461183206443905,0.00028906876035835735,0.4582178984500611,-0.45103693878922513,-0.12546728048456288,0.47709105694846715,0.3236592097842117,0.9999998325237044,-0.0005779000933090071,1.294682286460453e-05,2.8573146274114734e-05],"qvel":[-0.0001666530056514303,-0.0038250316443342387,-0.20713934870748318,0.20754654628888242,2.9604177707180412e-05,-3.0957639743165244e-05,7.654549840526127e-05,-6.352644980277737e-05,8.944062828049837e-05,0.00021478740487644314,8.958233787258794e-05,-2.6901268003614285e-05,0.0002230429019828094,0.00011196612101388152,0.00020511175293422835,0.0005225199372799554,0.08234234630025229,0.007592213917832861,0.0004351380279079405,-0.0007168673153479463],"joint_position_rad":[-1.5887350540035023,-1.6110815604004904,1.6175538725694363,-1.5772142105630742,-1.5707883616866511,-0.017944264360619695],"joint_velocity_rad_s":[-0.0001666530056514303,-0.0038250316443342387,-0.20713934870748318,0.20754654628888242,2.9604177707180412e-05,-3.0957639743165244e-05],"linkage_position_rad":[0.4611835244478797,0.0002937004862941021,0.4582808581308374,-0.4508583884347727,0.461183206443905,0.00028906876035835735,0.4582178984500611,-0.45103693878922513],"tcp_position_m":[-0.1254625272883005,0.4771885672757738,0.32931260926838446],"tcp_quaternion_wxyz":[1.6028852677860464e-05,0.707104823314153,0.7071087385186143,-2.2350600025659144e-05],"object_position_m":[-0.12546728048456288,0.47709105694846715,0.3236592097842117],"object_quaternion_wxyz":[0.9999998325237044,-0.0005779000933090071,1.294682286460453e-05,2.8573146274114734e-05],"object_linear_velocity_m_s":[0.00020511175293422835,0.0005225199372799554,0.08234234630025229],"object_angular_velocity_rad_s":[0.0075921704912276875,0.0004347429339796805,-0.0007175666092893559],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632291605365508,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088949832276455,"right":46.08954494913772},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742343640953,-1.6212718507044197,1.5661853930381664,-1.5408451943253743,-1.5707789587927163,-0.017950412717453568,180.0],"actuator_force":[0.05208192735972261,-18.85056795012497,-19.88121957954627,-2.5701465100382848,0.0017410291966371005,2.158555738063228e-05,5.0],"issued_joint_targets_rad":[-1.588746739504405,-1.6115040910943328,1.5721923159873425,-1.5316995580990973,-1.57078031806622,-0.017950396651379978],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.588746739504405,-1.6115040910943328,1.5721923159873425,-1.5316995580990973,-1.57078031806622,-0.017950396651379978],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5199999999997234,"qpos":[-1.5887353131815098,-1.6111167581317711,1.613255344353897,-1.5728830018846702,-1.570787574276669,-0.017944852579171222,0.46118352296678067,0.00029361534977850884,0.45828078161297287,-0.45085783272902136,0.46118321992785194,0.0002891468494126569,0.45821799440164,-0.4510374688721919,-0.1254675159992198,0.47708675053770083,0.325358021361857,0.999999833015838,-0.0005770275858687744,1.5228141974651508e-05,2.7848941176732305e-05],"qvel":[-0.00016834122947193068,-0.002959133420243838,-0.20795175947944658,0.20751223334618638,2.6374023751785124e-05,-2.791926306407696e-05,7.78490819823935e-05,-6.372214477804372e-05,9.077211234870451e-05,0.00021355066165203398,9.095859207266265e-05,-2.7163824422296087e-05,0.00022517445531780857,0.00011259143298812647,0.000208073599921103,0.0005258247028230127,0.08233202906328072,0.00757384908570595,0.0004278222434653669,-0.0007213826610463058],"joint_position_rad":[-1.5887353131815098,-1.6111167581317711,1.613255344353897,-1.5728830018846702,-1.570787574276669,-0.017944852579171222],"joint_velocity_rad_s":[-0.00016834122947193068,-0.002959133420243838,-0.20795175947944658,0.20751223334618638,2.6374023751785124e-05,-2.791926306407696e-05],"linkage_position_rad":[0.46118352296678067,0.00029361534977850884,0.45828078161297287,-0.45085783272902136,0.46118321992785194,0.0002891468494126569,0.45821799440164,-0.4510374688721919],"tcp_position_m":[-0.1254627303638492,0.47718161573011103,0.33101106173071226],"tcp_quaternion_wxyz":[1.4871623650057746e-05,0.7071047070066,0.7071088548704979,-2.1718146080952857e-05],"object_position_m":[-0.1254675159992198,0.47708675053770083,0.325358021361857],"object_quaternion_wxyz":[0.999999833015838,-0.0005770275858687744,1.5228141974651508e-05,2.7848941176732305e-05],"object_linear_velocity_m_s":[0.000208073599921103,0.0005258247028230127,0.08233202906328072],"object_angular_velocity_rad_s":[0.007573803286690818,0.00042741115622322684,-0.0007221068250321147],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632291338687908,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088925832578596,"right":46.0895253263075},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742331072773,-1.6211363494537376,1.561725122105397,-1.5365206440619694,-1.5707788170422043,-0.017950399370155728,180.0],"actuator_force":[0.05330070926220287,-18.85552927583558,-19.879740705221593,-2.570044423268314,0.0017412148572475417,1.853081415426061e-05,5.0],"issued_joint_targets_rad":[-1.5887467346599677,-1.6113515435235437,1.5677149305897637,-1.5273753841402546,-1.5707801786280624,-0.017950392985126767],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5887467346599677,-1.6113515435235437,1.5677149305897637,-1.5273753841402546,-1.5707801786280624,-0.017950392985126767],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.539999999999721,"qpos":[-1.5887355495923048,-1.6111340350117238,1.6089399126830002,-1.5685524597875515,-1.5707868487127925,-0.017945384020405658,0.4611835218811447,0.00029353318719898706,0.4582807082388469,-0.4508572973121143,0.46118323325139177,0.0002892216534029591,0.4582180872881211,-0.451037976825399,-0.12546774206227487,0.47708259443806583,0.32705673495098986,0.9999998333991499,-0.0005763344331841229,1.74080771523262e-05,2.7152368405533995e-05],"qvel":[-0.0001701871117722021,-0.002094677818569238,-0.20876608867451843,0.20747950910175236,2.3457737428635163e-05,-2.521653243116595e-05,7.916412624698535e-05,-6.392588812987067e-05,9.211147470240504e-05,0.00021235149241311983,9.234768257054279e-05,-2.742198720555066e-05,0.00022732933169338656,0.00011317276819498773,0.00021103219973334927,0.0005292627008392903,0.08232164144627525,0.007557212826460146,0.00042107905582085546,-0.0007259625664051325],"joint_position_rad":[-1.5887355495923048,-1.6111340350117238,1.6089399126830002,-1.5685524597875515,-1.5707868487127925,-0.017945384020405658],"joint_velocity_rad_s":[-0.0001701871117722021,-0.002094677818569238,-0.20876608867451843,0.20747950910175236,2.3457737428635163e-05,-2.521653243116595e-05],"linkage_position_rad":[0.4611835218811447,0.00029353318719898706,0.4582807082388469,-0.4508572973121143,0.46118323325139177,0.0002892216534029591,0.4582180872881211,-0.451037976825399],"tcp_position_m":[-0.12546292563483674,0.4771748201435323,0.33270940272946603],"tcp_quaternion_wxyz":[1.3858437142951147e-05,0.7071046027185993,0.7071089591944651,-2.1190457585484503e-05],"object_position_m":[-0.12546774206227487,0.47708259443806583,0.32705673495098986],"object_quaternion_wxyz":[0.9999998333991499,-0.0005763344331841229,1.74080771523262e-05,2.7152368405533995e-05],"object_linear_velocity_m_s":[0.00021103219973334927,0.0005292627008392903,0.08232164144627525],"object_angular_velocity_rad_s":[0.007557164683204386,0.00042065222121631977,-0.0007267107974980296],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632291064828327,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088901644724324,"right":46.08950543997775},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742328288961,-1.6209834153225102,1.5572477342687059,-1.5321964436238371,-1.5707786751865696,-0.017950395699221165,180.0],"actuator_force":[0.054517451396350225,-18.860889494144885,-19.877921358780895,-2.5699428283180623,0.0017409893687272415,1.5813835362976647e-05,5.0],"issued_joint_targets_rad":[-1.588746739442614,-1.6111813555930503,1.563220161888185,-1.5230514736033753,-1.5707800388103383,-0.01795039880739976],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.588746739442614,-1.6111813555930503,1.563220161888185,-1.5230514736033753,-1.5707800388103383,-0.01795039880739976],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.559999999999719,"qpos":[-1.5887357662158117,-1.6111334182103778,1.6046075326571128,-1.5642225467995905,-1.5707861790338429,-0.017945865036953064,0.4611835211874446,0.0002934538837746617,0.45828063790070317,-0.4508567814068024,0.4611832464319272,0.00028929329111713765,0.4582181772374222,-0.45103846345105525,-0.12546795881284364,0.4770785914641856,0.3287553505284143,0.9999998336843012,-0.0005758038592948825,1.949204189591989e-05,2.64829106570984e-05],"qvel":[-0.00017217518009660343,-0.0012315099351475252,-0.20958257095333488,0.20744862828620889,2.0825572358393663e-05,-2.281641577786198e-05,8.049073724665338e-05,-6.41375235875674e-05,9.345898698766742e-05,0.0002111885416292569,9.374968846749456e-05,-2.7675986181296237e-05,0.00022950750716734647,0.00011371160065520364,0.00021398823810764593,0.0005328366463106091,0.08231118156209526,0.007542134425986208,0.0004148723822263126,-0.0007306135206107006],"joint_position_rad":[-1.5887357662158117,-1.6111334182103778,1.6046075326571128,-1.5642225467995905,-1.5707861790338429,-0.017945865036953064],"joint_velocity_rad_s":[-0.00017217518009660343,-0.0012315099351475252,-0.20958257095333488,0.20744862828620889,2.0825572358393663e-05,-2.281641577786198e-05],"linkage_position_rad":[0.4611835211874446,0.0002934538837746617,0.45828063790070317,-0.4508567814068024,0.4611832464319272,0.00028929329111713765,0.4582181772374222,-0.45103846345105525],"tcp_position_m":[-0.12546311316217967,0.4771681832139176,0.33440763201968843],"tcp_quaternion_wxyz":[1.2975137164028323e-05,0.707104509258625,0.7071090526834631,-2.0757154757841858e-05],"object_position_m":[-0.12546795881284364,0.4770785914641856,0.3287553505284143],"object_quaternion_wxyz":[0.9999998336843012,-0.0005758038592948825,1.949204189591989e-05,2.64829106570984e-05],"object_linear_velocity_m_s":[0.00021398823810764593,0.0005328366463106091,0.08231118156209526],"object_angular_velocity_rad_s":[0.007542083966298513,0.0004144300317366296,-0.0007313850584863705],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322907836911176,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08887726713079,"right":46.089485292975596},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887423350842618,-1.6208130446874012,1.5527531379035948,-1.5278725051949702,-1.5707785331388626,-0.017950401517331245,180.0],"actuator_force":[0.05573233513860032,-18.86664897998753,-19.875761125701956,-2.5698420263107664,0.001740390254212798,1.3401388695655214e-05,5.0],"issued_joint_targets_rad":[-1.5887467536511382,-1.6109935227280336,1.5587079161524382,-1.5187277376614408,-1.5707798985504278,-0.017950413930327085],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.5887467536511382,-1.6109935227280336,1.5587079161524382,-1.5187277376614408,-1.5707798985504278,-0.017950413930327085],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5799999999997167,"qpos":[-1.5887359652511526,-1.6111149331324526,1.6002582111868282,-1.5598932203789602,-1.5707855598244873,-0.017946301354778493,0.461183521041957,0.00029337749813736035,0.4582805705217462,-0.45085628508132486,0.4611832596178648,0.0002893620853839234,0.45821826410492716,-0.451038931161197,-0.12546816726576804,0.4770747292697899,0.3304538402338631,0.9999998338645771,-0.0005754489286717578,2.1485527675707876e-05,2.5840274566723774e-05],"qvel":[-0.0001743240108797261,-0.00036915489231065306,-0.21040153656097202,0.20741994311948803,1.8460253818563907e-05,-2.0689089663255388e-05,8.172893607004893e-05,-6.435638407452414e-05,9.471653763777934e-05,0.00021007378541522265,9.5066808366739e-05,-2.7937653796617258e-05,0.00023166650172612614,0.00011441190072622176,0.00021696640641672116,0.0005366895442880015,0.0823006744375059,0.007528207364706331,0.0004091799120887698,-0.0007353384662736867],"joint_position_rad":[-1.5887359652511526,-1.6111149331324526,1.6002582111868282,-1.5598932203789602,-1.5707855598244873,-0.017946301354778493],"joint_velocity_rad_s":[-0.0001743240108797261,-0.00036915489231065306,-0.21040153656097202,0.20741994311948803,1.8460253818563907e-05,-2.0689089663255388e-05],"linkage_position_rad":[0.461183521041957,0.00029337749813736035,0.4582805705217462,-0.45085628508132486,0.4611832596178648,0.0002893620853839234,0.45821826410492716,-0.451038931161197],"tcp_position_m":[-0.12546329349745988,0.4771616931807145,0.33610572215528445],"tcp_quaternion_wxyz":[1.2228123067246585e-05,0.7071044253801304,0.7071091365842852,-2.0428771147804468e-05],"object_position_m":[-0.12546816726576804,0.4770747292697899,0.3304538402338631],"object_quaternion_wxyz":[0.9999998338645771,-0.0005754489286717578,2.1485527675707876e-05,2.5840274566723774e-05],"object_linear_velocity_m_s":[0.00021696640641672116,0.0005366895442880015,0.0823006744375059],"object_angular_velocity_rad_s":[0.007528154614549227,0.00040872221607939687,-0.0007361326211910369],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322905060003916,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08885341046394,"right":46.08946533169134},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887423512664995,-1.6206252324865347,1.5482412391791076,-1.52354873988017,-1.570778390818325,-0.01795041663664173,180.0],"actuator_force":[0.0569575736576553,-18.872936751240104,-19.873329391052266,-2.5697540625536703,0.001738477699291252,1.1268034706191088e-05,5.0],"issued_joint_targets_rad":[-1.5887467766542962,-1.610788069586241,1.5541781958189291,-1.51440415408462,-1.5707797578154366,-0.017950437735476187],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.5887467766542962,-1.610788069586241,1.5541781958189291,-1.51440415408462,-1.5707797578154366,-0.017950437735476187],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.5999999999997145,"qpos":[-1.5887361494495382,-1.611078602308101,1.595891921790687,-1.5555644389195245,-1.5707849862083332,-0.017946698093376953,0.4611835210206648,0.00029330384978223684,0.4582805056789231,-0.45085580695772376,0.4611832724155337,0.00028942798727298177,0.4582183478020332,-0.45103937913758146,-0.1254683672668202,0.47707100559760646,0.3321521918509855,0.9999998339430978,-0.0005752654061272711,2.3393575211379387e-05,2.522358012784658e-05],"qvel":[-0.0001766057106069597,0.0004922141260010908,-0.21122293221167923,0.20739329063283682,1.6330489920463815e-05,-1.8805537868948918e-05,8.295726620306323e-05,-6.458706808871489e-05,9.596136724978345e-05,0.00020900510241708754,9.637670014737247e-05,-2.819870376876747e-05,0.00023385368799879816,0.00011512691394042282,0.0002199603662841396,0.0005407590056841252,0.08229009609789951,0.007515683991105807,0.0004039527445315463,-0.0007401478535682733],"joint_position_rad":[-1.5887361494495382,-1.611078602308101,1.595891921790687,-1.5555644389195245,-1.5707849862083332,-0.017946698093376953],"joint_velocity_rad_s":[-0.0001766057106069597,0.0004922141260010908,-0.21122293221167923,0.20739329063283682,1.6330489920463815e-05,-1.8805537868948918e-05],"linkage_position_rad":[0.4611835210206648,0.00029330384978223684,0.4582805056789231,-0.45085580695772376,0.4611832724155337,0.00028942798727298177,0.4582183478020332,-0.45103937913758146],"tcp_position_m":[-0.12546346662760718,0.4771553474610503,0.337803660480475],"tcp_quaternion_wxyz":[1.1613069088064803e-05,0.7071043502463152,0.7071092117344087,-2.0204335067596443e-05],"object_position_m":[-0.1254683672668202,0.47707100559760646,0.3321521918509855],"object_quaternion_wxyz":[0.9999998339430978,-0.0005752654061272711,2.3393575211379387e-05,2.522358012784658e-05],"object_linear_velocity_m_s":[0.0002199603662841396,0.0005407590056841252,0.08229009609789951],"object_angular_velocity_rad_s":[0.007515628976254752,0.0004034798555808307,-0.0007409639778968473],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632290228696777,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088829441837824,"right":46.089445133226626},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887423761977741,-1.6204200030450298,1.5437120404155227,-1.5192251254619897,-1.570778248175694,-0.017950440438712,180.0],"actuator_force":[0.058188787771086936,-18.879687124257998,-19.87058986565671,-2.5696723345163264,0.0017359673274768284,9.38111937109909e-06,5.0],"issued_joint_targets_rad":[-1.588746808524006,-1.610565001182217,1.5496309459216822,-1.510080663068474,-1.5707796165602728,-0.01795047030489601],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.588746808524006,-1.610565001182217,1.5496309459216822,-1.510080663068474,-1.5707796165602728,-0.01795047030489601],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6199999999997123,"qpos":[-1.5887363212180359,-1.6110244471388897,1.5915086118306416,-1.5512361597400333,-1.5707844537775086,-0.01794705988610828,0.4611835212506091,0.00029323275093075344,0.45828044344548624,-0.45085534612250294,0.46118328498591643,0.00028949104493874967,0.4582184287698516,-0.4510398078151648,-0.12546855863087217,0.4770674243952074,0.33385040502052277,0.9999998339294914,-0.0005752374928543379,2.5220583328296252e-05,2.4632032517717594e-05],"qvel":[-0.00017899312806032077,0.0013525347727810515,-0.21204684860673365,0.2073687048449814,1.4410760464143318e-05,-1.7142756496459564e-05,8.421255933493988e-05,-6.482706562826763e-05,9.72298843296061e-05,0.0002079650208245833,9.771508318640067e-05,-2.845508655933438e-05,0.00023608085303388314,0.00011577936749155583,0.0002229563950769801,0.0005449943429334028,0.08227943778423119,0.0075046357672808395,0.0003991585503610358,-0.0007450423258459088],"joint_position_rad":[-1.5887363212180359,-1.6110244471388897,1.5915086118306416,-1.5512361597400333,-1.5707844537775086,-0.01794705988610828],"joint_velocity_rad_s":[-0.00017899312806032077,0.0013525347727810515,-0.21204684860673365,0.2073687048449814,1.4410760464143318e-05,-1.7142756496459564e-05],"linkage_position_rad":[0.4611835212506091,0.00029323275093075344,0.45828044344548624,-0.45085534612250294,0.46118328498591643,0.00028949104493874967,0.4582184287698516,-0.4510398078151648],"tcp_position_m":[-0.1254636324721655,0.4771491496607753,0.3395014461949102],"tcp_quaternion_wxyz":[1.1117502773337573e-05,0.7071042830706239,0.7071092789213068,-2.0074092929365186e-05],"object_position_m":[-0.12546855863087217,0.4770674243952074,0.33385040502052277],"object_quaternion_wxyz":[0.9999998339294914,-0.0005752374928543379,2.5220583328296252e-05,2.4632032517717594e-05],"object_linear_velocity_m_s":[0.0002229563950769801,0.0005449943429334028,0.08227943778423119],"object_angular_velocity_rad_s":[0.007504578513191245,0.0003986706234236949,-0.0007458798083780955],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632289945421791,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08880530479049,"right":46.08942473065665},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887424099421794,-1.620197361082876,1.5391654865196696,-1.514901602227236,-1.5707781051510936,-0.017950473005548275,180.0],"actuator_force":[0.05941980293710003,-18.8868417970848,-19.86751117925087,-2.56959172809934,0.0017332371611473718,7.715929646323616e-06,5.0],"issued_joint_targets_rad":[-1.5887468492616936,-1.6103243082513203,1.545066066641195,-1.5057571743769471,-1.5707794747298647,-0.01795051164949864],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5887468492616936,-1.6103243082513203,1.545066066641195,-1.5057571743769471,-1.5707794747298647,-0.01795051164949864],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.63999999999971,"qpos":[-1.5887364824881527,-1.6109524870229224,1.5871082246439099,-1.5469083361098566,-1.5707839585331707,-0.01794739092369482,0.46118352187738626,0.0002931640937861355,0.45828038386737907,-0.45085490199483197,0.46118329749455217,0.00028955137674019355,0.45821850727758934,-0.451040218162983,-0.12546874146545672,0.47706398928361726,0.33554847941833893,0.9999998338323558,-0.0005753509543236808,2.697063422803268e-05,2.4064990157537252e-05],"qvel":[-0.000181474532911089,0.0022119451621882774,-0.21287350648122347,0.20734640389636053,1.268172820941989e-05,-1.56796374000863e-05,8.547945644040836e-05,-6.507453264636601e-05,9.850756613075143e-05,0.00020695710620025553,9.906636130388554e-05,-2.8708490427331423e-05,0.0002383318273777476,0.00011639679652580255,0.00022595270679053714,0.0005493994058510055,0.0822687012964281,0.007494920819672045,0.00039477551210948404,-0.000750022421000562],"joint_position_rad":[-1.5887364824881527,-1.6109524870229224,1.5871082246439099,-1.5469083361098566,-1.5707839585331707,-0.01794739092369482],"joint_velocity_rad_s":[-0.000181474532911089,0.0022119451621882774,-0.21287350648122347,0.20734640389636053,1.268172820941989e-05,-1.56796374000863e-05],"linkage_position_rad":[0.46118352187738626,0.0002931640937861355,0.45828038386737907,-0.45085490199483197,0.46118329749455217,0.00028955137674019355,0.45821850727758934,-0.451040218162983],"tcp_position_m":[-0.12546379107370814,0.4771431032872614,0.3411990787486263],"tcp_quaternion_wxyz":[1.0729802954015308e-05,0.7071042230547424,0.7071093389440306,-2.002887890004172e-05],"object_position_m":[-0.12546874146545672,0.47706398928361726,0.33554847941833893],"object_quaternion_wxyz":[0.9999998338323558,-0.0005753509543236808,2.697063422803268e-05,2.4064990157537252e-05],"object_linear_velocity_m_s":[0.00022595270679053714,0.0005493994058510055,0.0822687012964281],"object_angular_velocity_rad_s":[0.007494861350916142,0.00039427269495211005,-0.0007508806847141978],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322896546725854,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08878101358168,"right":46.089404119122136},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887424524975498,-1.6199572970530947,1.5346014775542134,-1.5105780800307003,-1.5707779616760482,-0.017950514348020166,180.0],"actuator_force":[0.06064979437041984,-18.894398125219595,-19.864091586903214,-2.5695123500579484,0.001730255740312714,6.251577335802949e-06,5.0],"issued_joint_targets_rad":[-1.5887468986547906,-1.610065980279853,1.5404834552619207,-1.5014335961192418,-1.570779332271206,-0.017950561565829717],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.5887468986547906,-1.610065980279853,1.5404834552619207,-1.5014335961192418,-1.570779332271206,-0.017950561565829717],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.659999999999708,"qpos":[-1.58873663498137,-1.610862738523413,1.5826906991908811,-1.5425809170022553,-1.5707834968524805,-0.017947694976677246,0.46118352287281617,0.00029309778227811146,0.45828032683214054,-0.45085447389239375,0.4611833099302472,0.0002896090765796976,0.4582185834053996,-0.4510406107911517,-0.1254689158760463,0.47706070396445693,0.3372464147142364,0.9999998336593952,-0.0005755929311834695,2.8647580670115522e-05,2.35217931216371e-05],"qvel":[-0.00018404057677198494,0.003070582933856121,-0.2137031159321568,0.20732659397874684,1.1125399735883608e-05,-1.4396108651693329e-05,8.67561757363027e-05,-6.532938712893631e-05,9.97928225696526e-05,0.00020598198953194382,0.00010042872437235204,-2.8959162975382137e-05,0.00024060467872937785,0.00011698345460153716,0.0002289502395156135,0.0005539784754249326,0.08225788497857474,0.007486408116067598,0.00039078038295143854,-0.000755090718846907],"joint_position_rad":[-1.58873663498137,-1.610862738523413,1.5826906991908811,-1.5425809170022553,-1.5707834968524805,-0.017947694976677246],"joint_velocity_rad_s":[-0.00018404057677198494,0.003070582933856121,-0.2137031159321568,0.20732659397874684,1.1125399735883608e-05,-1.4396108651693329e-05],"linkage_position_rad":[0.46118352287281617,0.00029309778227811146,0.45828032683214054,-0.45085447389239375,0.4611833099302472,0.0002896090765796976,0.4582185834053996,-0.4510406107911517],"tcp_position_m":[-0.12546394247678308,0.477137211938251,0.34289655759168336],"tcp_quaternion_wxyz":[1.0439439907659348e-05,0.7071041694745612,0.7071093925272731,-2.0060387643812494e-05],"object_position_m":[-0.1254689158760463,0.47706070396445693,0.3372464147142364],"object_quaternion_wxyz":[0.9999998336593952,-0.0005755929311834695,2.8647580670115522e-05,2.35217931216371e-05],"object_linear_velocity_m_s":[0.0002289502395156135,0.0005539784754249326,0.08225788497857474],"object_angular_velocity_rad_s":[0.007486346456309493,0.000390262813484266,-0.0007559692151303192],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632289356489489,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08875650109061,"right":46.08938323511568},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.58874250364819,-1.6196998002064729,1.5300199106976706,-1.5062544670635591,-1.570777817685407,-0.0179505642626347,180.0],"actuator_force":[0.06187889706916394,-18.902356539661923,-19.86033061355829,-2.5694344285266197,0.0017270435631644432,4.967886443552061e-06,5.0],"issued_joint_targets_rad":[-1.5887469564794399,-1.6097900051891316,1.5358830064831823,-1.4971098353722685,-1.5707791891338132,-0.017950619838336283],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5887469564794399,-1.6097900051891316,1.5358830064831823,-1.4971098353722685,-1.5707791891338132,-0.017950619838336283],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6799999999997057,"qpos":[-1.5887367802372485,-1.6107552154542704,1.5782559702384886,-1.5382538473893037,-1.5707830654547719,-0.017947975433575958,0.4611835242234318,0.0002930337237137276,0.4582802722431953,-0.45085406117846855,0.46118332229618486,0.00028966423814488497,0.458218657244295,-0.45104098632119477,-0.12546908195884293,0.47705757223064793,0.33894421055040785,0.9999998334175163,-0.000575951812259903,3.0255043565567455e-05,2.300176613560154e-05],"qvel":[-0.0001866828642638414,0.003928580143356815,-0.21453587872288424,0.2073094664047208,9.725478012818162e-06,-1.3273966617248793e-05,8.804420016190115e-05,-6.559149259543089e-05,0.00010108717490024201,0.00020503678364853308,0.00010180365097609885,-2.9207166480967484e-05,0.00024290085307889948,0.00011753811085533687,0.00023194961192396092,0.0005587361667813818,0.08224698702799266,0.007478978916462949,0.0003871511921298694,-0.0007602492762421366],"joint_position_rad":[-1.5887367802372485,-1.6107552154542704,1.5782559702384886,-1.5382538473893037,-1.5707830654547719,-0.017947975433575958],"joint_velocity_rad_s":[-0.0001866828642638414,0.003928580143356815,-0.21453587872288424,0.2073094664047208,9.725478012818162e-06,-1.3273966617248793e-05],"linkage_position_rad":[0.4611835242234318,0.0002930337237137276,0.4582802722431953,-0.45085406117846855,0.46118332229618486,0.00028966423814488497,0.458218657244295,-0.45104098632119477],"tcp_position_m":[-0.12546408672310683,0.47713147930772226,0.34459388214950304],"tcp_quaternion_wxyz":[1.023689474267181e-05,0.7071041216766403,0.7071094403249343,-2.0161115136446098e-05],"object_position_m":[-0.12546908195884293,0.47705757223064793,0.33894421055040785],"object_quaternion_wxyz":[0.9999998334175163,-0.000575951812259903,3.0255043565567455e-05,2.300176613560154e-05],"object_linear_velocity_m_s":[0.00023194961192396092,0.0005587361667813818,0.08224698702799266],"object_angular_velocity_rad_s":[0.007478915088446122,0.0003866189988006503,-0.0007611474824702683],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632289050869778,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08873177063792,"right":46.08936208522042},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887425631672194,-1.6194248582751865,1.5254206805555455,-1.5019306704759632,-1.5707776731176895,-0.01795062253380415,180.0],"actuator_force":[0.06310728576363545,-18.91071769917471,-19.856227876732646,-2.5693581838017963,0.001723620739880971,3.846547629748898e-06,5.0],"issued_joint_targets_rad":[-1.588747022508518,-1.6094963693004727,1.5312646124260587,-1.4927857982238057,-1.5707790452694457,-0.017950686247441307],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.588747022508518,-1.6094963693004727,1.5312646124260587,-1.4927857982238057,-1.5707790452694457,-0.017950686247441307],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.6999999999997035,"qpos":[-1.5887369196305599,-1.6106299289895103,1.5738039685156306,-1.5339270685294009,-1.570782661369035,-0.017948235337084808,0.4611835259283926,0.0002929718287340189,0.45828022001882074,-0.45085366325344817,0.4611833346076529,0.0002897169522425969,0.45821872889393395,-0.45104134537021695,-0.12546923980438848,0.4770545979732599,0.3406418665417841,0.9999998331129142,-0.0005764171149264587,3.1796429107053416e-05,2.250422408377409e-05],"qvel":[-0.00018939379630242528,0.004786063552445619,-0.21537198923539622,0.2072951987359162,8.467217867430731e-06,-1.2296734053063775e-05,8.93437880218696e-05,-6.586074725669842e-05,0.0001023910063141849,0.00020412032189470636,0.00010319138319567041,-2.9452703061649516e-05,0.00024522056467142945,0.00011806188312926482,0.00023495137862271462,0.0005636774044398756,0.08223600569126739,0.00747252585464233,0.0003838677054994909,-0.0007654996409723838],"joint_position_rad":[-1.5887369196305599,-1.6106299289895103,1.5738039685156306,-1.5339270685294009,-1.570782661369035,-0.017948235337084808],"joint_velocity_rad_s":[-0.00018939379630242528,0.004786063552445619,-0.21537198923539622,0.2072951987359162,8.467217867430731e-06,-1.2296734053063775e-05],"linkage_position_rad":[0.4611835259283926,0.0002929718287340189,0.45828022001882074,-0.45085366325344817,0.4611833346076529,0.0002897169522425969,0.45821872889393395,-0.45104134537021695],"tcp_position_m":[-0.1254642238516352,0.47712590919185344,0.346291051822105],"tcp_quaternion_wxyz":[1.0113563854725704e-05,0.7071040790714838,0.7071094829268716,-2.032428305591335e-05],"object_position_m":[-0.12546923980438848,0.4770545979732599,0.3406418665417841],"object_quaternion_wxyz":[0.9999998331129142,-0.0005764171149264587,3.1796429107053416e-05,2.250422408377409e-05],"object_linear_velocity_m_s":[0.00023495137862271462,0.0005636774044398756,0.08223600569126739],"object_angular_velocity_rad_s":[0.007472459880163851,0.00038332100771164756,-0.0007664170590095847],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322887377118066,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08870682400265,"right":46.089340674034936},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887426308245634,-1.6191324574355237,1.5208036791672692,-1.4976065964209795,-1.570777527914696,-0.017950688941920166,180.0],"actuator_force":[0.06433513051433692,-18.91948231300512,-19.85178300256439,-2.569283819380871,0.001720005382708223,2.8709876271904022e-06,5.0],"issued_joint_targets_rad":[-1.588747096511262,-1.6091850572933444,1.5266281625723692,-1.4884613897548733,-1.5707789006318025,-0.01795076056923341],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.588747096511262,-1.6091850572933444,1.5266281625723692,-1.4884613897548733,-1.5707789006318025,-0.01795076056923341],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7199999999997013,"qpos":[-1.5887370543861525,-1.6104868877605252,1.5693346208480983,-1.5296005182268106,-1.5707822819044384,-0.017948477416805417,0.46118352798551704,0.00029291201100781146,0.45828017007894994,-0.45085327953652493,0.4611833468779923,0.00028976730596353946,0.4582187984488226,-0.45104168852867793,-0.1254693894982163,0.4770517851882191,0.3423393822772564,0.9999998327511473,-0.0005769793770452206,3.3274944550898346e-05,2.2028476975947786e-05],"qvel":[-0.00019216648963289593,0.005643155313305035,-0.21621163547030503,0.20728395617615689,7.3372789073684795e-06,-1.1449493210597492e-05,9.065501644103649e-05,-6.613705012066415e-05,0.00010370452343247704,0.0002032316327634375,0.00010459198269785433,-2.9695963815022543e-05,0.00024756386254139835,0.00011855603725358462,0.00023795608252765222,0.0005688074389942446,0.08222493924671793,0.007466951857628894,0.0003809111702084579,-0.000770842920826536],"joint_position_rad":[-1.5887370543861525,-1.6104868877605252,1.5693346208480983,-1.5296005182268106,-1.5707822819044384,-0.017948477416805417],"joint_velocity_rad_s":[-0.00019216648963289593,0.005643155313305035,-0.21621163547030503,0.20728395617615689,7.3372789073684795e-06,-1.1449493210597492e-05],"linkage_position_rad":[0.46118352798551704,0.00029291201100781146,0.45828017007894994,-0.45085327953652493,0.4611833468779923,0.00028976730596353946,0.4582187984488226,-0.45104168852867793],"tcp_position_m":[-0.12546435389892616,0.4771205054951679,0.3479880659844443],"tcp_quaternion_wxyz":[1.0061671290092218e-05,0.7071040411272373,0.7071095208652238,-2.054376917964423e-05],"object_position_m":[-0.1254693894982163,0.4770517851882191,0.3423393822772564],"object_quaternion_wxyz":[0.9999998327511473,-0.0005769793770452206,3.3274944550898346e-05,2.2028476975947786e-05],"object_linear_velocity_m_s":[0.00023795608252765222,0.0005688074389942446,0.08222493924671793],"object_angular_velocity_rad_s":[0.007466883757530216,0.0003803500786901263,-0.0007717790755762915],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632288416918206,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08868165802943,"right":46.089319001073555},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887427063865662,-1.618822582263947,1.516168795945247,-1.4932821500377034,-1.5707773820211075,-0.017950763263043203,180.0],"actuator_force":[0.06556259502576722,-18.92865113216567,-19.846995617580433,-2.5692115230619947,0.001716213774670905,2.026202166049984e-06,5.0],"issued_joint_targets_rad":[-1.5887471782523417,-1.6088560521607593,1.5219735436975066,-1.4841365140186118,-1.5707787551762424,-0.017950842574606673],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.5887471782523417,-1.6088560521607593,1.5219735436975066,-1.4841365140186118,-1.5707787551762424,-0.017950842574606673],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.739999999999699,"qpos":[-1.588737185592314,-1.6103260979398009,1.5648478502741934,-1.5252741310643771,-1.5707819246236427,-0.01794870411876408,0.4611835303918867,0.0002928541872711687,0.45828012234565363,-0.45085290946687717,0.46118335911922653,0.0002898153830124001,0.45821886599906647,-0.4510420163632983,-0.12546953112129747,0.4770491379834078,0.3440367573205731,0.9999998323372049,-0.0005776300592760151,3.469361219446454e-05,2.1573834246389128e-05],"qvel":[-0.0001949947072501211,0.006499973622880154,-0.2170549999691543,0.20727589285243747,6.323592275338636e-06,-1.071873240642643e-05,9.197805740068336e-05,-6.642030230188387e-05,0.0001050280190958089,0.00020236964054121717,0.00010600560759747278,-2.9937128094185827e-05,0.0002499308992761324,0.00011902164837725953,0.00024096425162730724,0.0005741318670354758,0.08221378599390093,0.007462169157832073,0.00037826418582441034,-0.0007762798486603686],"joint_position_rad":[-1.588737185592314,-1.6103260979398009,1.5648478502741934,-1.5252741310643771,-1.5707819246236427,-0.01794870411876408],"joint_velocity_rad_s":[-0.0001949947072501211,0.006499973622880154,-0.2170549999691543,0.20727589285243747,6.323592275338636e-06,-1.071873240642643e-05],"linkage_position_rad":[0.4611835303918867,0.0002928541872711687,0.45828012234565363,-0.45085290946687717,0.46118335911922653,0.0002898153830124001,0.45821886599906647,-0.4510420163632983],"tcp_position_m":[-0.1254644768994998,0.4771152722371301,0.34968492398674],"tcp_quaternion_wxyz":[1.0074189425371026e-05,0.7071040073639862,0.707109554620129,-2.0814044390191085e-05],"object_position_m":[-0.12546953112129747,0.4770491379834078,0.3440367573205731],"object_quaternion_wxyz":[0.9999998323372049,-0.0005776300592760151,3.469361219446454e-05,2.1573834246389128e-05],"object_linear_velocity_m_s":[0.00024096425162730724,0.0005741318670354758,0.08221378599390093],"object_angular_velocity_rad_s":[0.007462098951998874,0.00037768880295226126,-0.0007772342867601983],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322880883989774,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08865626970633,"right":46.089297065857885},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887427896150537,-1.6184952156906562,1.5115159176077642,-1.488957235430808,-1.5707772353841143,-0.017950845268042012,180.0],"actuator_force":[0.0667898374208562,-18.93822495086306,-19.841865345196766,-2.569141468459179,0.0017122605366921562,1.298601675969735e-06,5.0],"issued_joint_targets_rad":[-1.5887472674908907,-1.6085093351615098,1.5173006397995386,-1.4798110740184638,-1.5707786088595315,-0.01795093202834844],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.5887472674908907,-1.6085093351615098,1.5173006397995386,-1.4798110740184638,-1.5707786088595315,-0.01795093202834844],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.759999999999697,"qpos":[-1.5887373142128052,-1.6101475633119542,1.5603435761425566,-1.5209478386118545,-1.5707815873186546,-0.017948917632012104,0.46118353314478555,0.0002927982772512611,0.45828007674394694,-0.4508525525042288,0.461183371343021,0.00028986126385563394,0.45821893163141386,-0.45104232941915445,-0.125469664750525,0.47704666058622897,0.3457339912111193,0.9999998318755661,-0.0005783614567687504,3.605528221539846e-05,2.11396084560502e-05],"qvel":[-0.0001978727954481295,0.007356633330007118,-0.21790226066517407,0.207271152976543,5.415240094939546e-06,-1.009220706020053e-05,9.33130978763009e-05,-6.671041157959165e-05,0.00010636179616890917,0.00020153329743031112,0.0001074324323370036,-3.0176371147671523e-05,0.00025232185306820853,0.00011945974859081249,0.00024397640015395153,0.0005796566538283989,0.0822025442486427,0.0074580983991827205,0.00037591059813948724,-0.0007818108401564207],"joint_position_rad":[-1.5887373142128052,-1.6101475633119542,1.5603435761425566,-1.5209478386118545,-1.5707815873186546,-0.017948917632012104],"joint_velocity_rad_s":[-0.0001978727954481295,0.007356633330007118,-0.21790226066517407,0.207271152976543,5.415240094939546e-06,-1.009220706020053e-05],"linkage_position_rad":[0.46118353314478555,0.0002927982772512611,0.45828007674394694,-0.4508525525042288,0.461183371343021,0.00028986126385563394,0.45821893163141386,-0.45104232941915445],"tcp_position_m":[-0.12546459288616738,0.4771102135592481,0.3513816251547051],"tcp_quaternion_wxyz":[1.0144767255817885e-05,0.7071039773486154,0.7071095846248796,-2.1130115735696982e-05],"object_position_m":[-0.125469664750525,0.47704666058622897,0.3457339912111193],"object_quaternion_wxyz":[0.9999998318755661,-0.0005783614567687504,3.605528221539846e-05,2.11396084560502e-05],"object_linear_velocity_m_s":[0.00024397640015395153,0.0005796566538283989,0.0822025442486427],"object_angular_velocity_rad_s":[0.007458026106551244,0.0003753210182249546,-0.000782783128810513],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322877520640564,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088630656125574,"right":46.08927486787991},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887428802663528,-1.6181503389502483,1.5068449281081735,-1.4846317556493298,-1.5707770879530836,-0.01795093472168118,180.0],"actuator_force":[0.06801701108406633,-18.948204608591368,-19.836391802696653,-2.569073816392006,0.001708158776068558,6.75871483224455e-07,5.0],"issued_joint_targets_rad":[-1.5887473639795267,-1.608144885769025,1.5126093320245153,-1.4754849716858471,-1.5707784616396074,-0.017951028688215385],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5887473639795267,-1.608144885769025,1.5126093320245153,-1.4754849716858471,-1.5707784616396074,-0.017951028688215385],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7799999999996947,"qpos":[-1.5887374410976758,-1.6099512853329894,1.5558217141935309,-1.516621569612145,-1.570781267988964,-0.017949119912587998,0.46118353624164304,0.0002927442035576017,0.4582800332016407,-0.4508522081280213,0.4611833835606453,0.00028990502581558467,0.45821899542932554,-0.4510426282202106,-0.1254697904591674,0.47704435735169654,0.34743108346459617,0.9999998313702506,-0.000579166619344188,3.736264448362925e-05,2.0725118461762974e-05],"qvel":[-0.00020079562678209154,0.008213246499615544,-0.21875359167011493,0.20726987189766852,4.602346337751541e-06,-9.558813998162097e-06,9.466032432717886e-05,-6.700729248016146e-05,0.00010770615245339439,0.00020072159712499193,0.00010887263220304337,-3.0413864158496875e-05,0.0002547369123992005,0.00011987134445908583,0.00024699303061810607,0.0005853881588163819,0.08219121233704295,0.007454667828995168,0.00037383540140022576,-0.0007874360454943893],"joint_position_rad":[-1.5887374410976758,-1.6099512853329894,1.5558217141935309,-1.516621569612145,-1.570781267988964,-0.017949119912587998],"joint_velocity_rad_s":[-0.00020079562678209154,0.008213246499615544,-0.21875359167011493,0.20726987189766852,4.602346337751541e-06,-9.558813998162097e-06],"linkage_position_rad":[0.46118353624164304,0.0002927442035576017,0.4582800332016407,-0.4508522081280213,0.4611833835606453,0.00028990502581558467,0.45821899542932554,-0.4510426282202106],"tcp_position_m":[-0.12546470189034686,0.47710533373273745,0.3530781687896948],"tcp_quaternion_wxyz":[1.0267665547568077e-05,0.7071039506901664,0.7071096112705735,-2.1487474961051916e-05],"object_position_m":[-0.1254697904591674,0.47704435735169654,0.34743108346459617],"object_quaternion_wxyz":[0.9999998313702506,-0.000579166619344188,3.736264448362925e-05,2.0725118461762974e-05],"object_linear_velocity_m_s":[0.00024699303061810607,0.0005853881588163819,0.08219121233704295],"object_angular_velocity_rad_s":[0.007454593467563408,0.00037323171094391584,-0.0007884257714245032],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632287407822923,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088604814232326,"right":46.089252406361666},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887429780903035,-1.6177879315292312,1.5021557085603015,-1.4803056126648857,-1.5707769396792504,-0.017951031381696948,180.0],"actuator_force":[0.06924426545765527,-18.958590992329846,-19.830574598412568,-2.569008716137205,0.0017039202230080264,1.4684534299647112e-07,5.0],"issued_joint_targets_rad":[-1.5887474674633326,-1.6077626816165447,1.507899498587615,-1.4711581078572518,-1.5707783134753672,-0.017951132303961868],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5887474674633326,-1.6077626816165447,1.507899498587615,-1.4711581078572518,-1.5707783134753672,-0.017951132303961868],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.7999999999996925,"qpos":[-1.5887375669929853,-1.6097372631785645,1.5512821766252596,-1.512295250147489,-1.5707809648217603,-0.017949312705089857,0.4611835396799809,0.00029269189158710084,0.4582799916492031,-0.45085187583668357,0.46118339578293793,0.00028994674317373454,0.45821905747304686,-0.45104291326994017,-0.12546990831729735,0.47704223277111385,0.3491280335735944,0.9999998308248702,-0.0005800392793458647,3.8618239432869956e-05,2.0329692114404892e-05],"qvel":[-0.00020375854819230254,0.009069922939595135,-0.21960916400502015,0.20727217705672274,3.875978070860312e-06,-9.108477586507896e-06,9.601992836866732e-05,-6.731086569016855e-05,0.00010906138649521885,0.00019993356571128116,0.00011032638898991097,-3.06497737830432e-05,0.0002571762818568261,0.00012025740889494439,0.00025001463586558757,0.0005913331643324054,0.08217978858947247,0.007451812567285939,0.00037202464793312977,-0.0007931553950626931],"joint_position_rad":[-1.5887375669929853,-1.6097372631785645,1.5512821766252596,-1.512295250147489,-1.5707809648217603,-0.017949312705089857],"joint_velocity_rad_s":[-0.00020375854819230254,0.009069922939595135,-0.21960916400502015,0.20727217705672274,3.875978070860312e-06,-9.108477586507896e-06],"linkage_position_rad":[0.4611835396799809,0.00029269189158710084,0.4582799916492031,-0.45085187583668357,0.46118339578293793,0.00028994674317373454,0.45821905747304686,-0.45104291326994017],"tcp_position_m":[-0.12546480394235549,0.47710063716680357,0.35477455416876946],"tcp_quaternion_wxyz":[1.0437698214239967e-05,0.7071039270356524,0.7071096349103078,-2.188205199212669e-05],"object_position_m":[-0.12546990831729735,0.47704223277111385,0.3491280335735944],"object_quaternion_wxyz":[0.9999998308248702,-0.0005800392793458647,3.8618239432869956e-05,2.0329692114404892e-05],"object_linear_velocity_m_s":[0.00025001463586558757,0.0005913331643324054,0.08217978858947247],"object_angular_velocity_rad_s":[0.00745173615412847,0.00037140692585274805,-0.0007941621635602376],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322870555848494,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088578740755125,"right":46.089229680193235},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887430828292308,-1.6174079711100697,1.4974481371597033,-1.475978707349263,-1.5707767905154382,-0.01795113499782535,180.0],"actuator_force":[0.07047174678564261,-18.969385038848486,-19.824413329104573,-2.5689463065593827,0.0016995553539800312,-2.986090965606536e-07,5.0],"issued_joint_targets_rad":[-1.5887475776788125,-1.607362698438314,1.5031710146898047,-1.4668303822507487,-1.5707781643264687,-0.01795124261634075],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5887475776788125,-1.607362698438314,1.5031710146898047,-1.4668303822507487,-1.5707781643264687,-0.01795124261634075],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8199999999996903,"qpos":[-1.5887376925495127,-1.6095054937819528,1.54672487214555,-1.5079688037874917,-1.5707806761740235,-0.01794949756208438,0.4611835434574275,0.00029264126943357187,0.45827995201968785,-0.4508515551470148,0.46118340802033914,0.0002899864872729695,0.45821911783973585,-0.45104318505201524,-0.12547001839219302,0.4770402914814101,0.3508248410080669,0.9999998302426666,-0.0005809737864179256,3.982446805763877e-05,1.9952668543986106e-05],"qvel":[-0.00020675733391350125,0.009926770695298804,-0.22046914628179218,0.20727818885184926,3.2280560897591257e-06,-8.73204665242143e-06,9.739210744496645e-05,-6.762105797238389e-05,0.000110427798410028,0.0001991682612516397,0.00011179389159363413,-3.0884262557644e-05,0.00025964018287343753,0.00012061888108489129,0.00025304170086725005,0.0005974989077338264,0.08216827133485195,0.007449473946353802,0.0003704653660687394,-0.0007989686402617832],"joint_position_rad":[-1.5887376925495127,-1.6095054937819528,1.54672487214555,-1.5079688037874917,-1.5707806761740235,-0.01794949756208438],"joint_velocity_rad_s":[-0.00020675733391350125,0.009926770695298804,-0.22046914628179218,0.20727818885184926,3.2280560897591257e-06,-8.73204665242143e-06],"linkage_position_rad":[0.4611835434574275,0.00029264126943357187,0.45827995201968785,-0.4508515551470148,0.46118340802033914,0.0002899864872729695,0.45821911783973585,-0.45104318505201524],"tcp_position_m":[-0.12546489907168967,0.47709612841761345,0.3564707805446782],"tcp_quaternion_wxyz":[1.065017930998577e-05,0.7071039060662809,0.7071096558629626,-2.2310172890420677e-05],"object_position_m":[-0.12547001839219302,0.4770402914814101,0.3508248410080669],"object_quaternion_wxyz":[0.9999998302426666,-0.0005809737864179256,3.982446805763877e-05,1.9952668543986106e-05],"object_linear_velocity_m_s":[0.00025304170086725005,0.0005974989077338264,0.08216827133485195],"object_angular_velocity_rad_s":[0.007449395497639012,0.00036983368390451404,-0.0007999920743279302],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632286695258673,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08855243230373,"right":46.08920668803805},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887431942168935,-1.6170104335114595,1.492722089100445,-1.4716509394513704,-1.5707766404158015,-0.017951245310802832,180.0],"actuator_force":[0.07169959880411625,-18.98058773713319,-19.817907577493315,-2.568886717124201,0.0016950735019918284,-6.696939838235494e-07,5.0],"issued_joint_targets_rad":[-1.5887476943527923,-1.6069449100064146,1.498423752429572,-1.4625016934418686,-1.5707780141531464,-0.01795135935604922],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5887476943527923,-1.6069449100064146,1.498423752429572,-1.4625016934418686,-1.5707780141531464,-0.01795135935604922],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.839999999999688,"qpos":[-1.5887378183305516,-1.6092559718622825,1.5421497060103968,-1.5036421517206513,-1.5707804005563133,-0.01794967586155465,0.4611835475717241,0.0002925922677965706,0.45827991424865316,-0.45085124559356987,0.46118342028291326,0.0002900243266167236,0.45821917660358735,-0.45104344403096397,-0.12547012074872035,0.47703853827521425,0.3525215052157094,0.999999829626548,-0.0005819650485676112,4.0983601131206055e-05,1.9593400084934983e-05],"qvel":[-0.00020978814261208575,0.010783896516656863,-0.22133370534231375,0.20728802142381253,2.651274071660294e-06,-8.421201033258795e-06,9.877706557951498e-05,-6.793780235852696e-05,0.00011180569040869176,0.00019842477060545499,0.00011327533689795516,-3.111748896051803e-05,0.0002621288544165276,0.00012095666728428853,0.0002560747044771641,0.0006038931174905655,0.08215665889511715,0.0074475989133204485,0.0003691454858734998,-0.000804875389653775],"joint_position_rad":[-1.5887378183305516,-1.6092559718622825,1.5421497060103968,-1.5036421517206513,-1.5707804005563133,-0.01794967586155465],"joint_velocity_rad_s":[-0.00020978814261208575,0.010783896516656863,-0.22133370534231375,0.20728802142381253,2.651274071660294e-06,-8.421201033258795e-06],"linkage_position_rad":[0.4611835475717241,0.0002925922677965706,0.45827991424865316,-0.45085124559356987,0.46118342028291326,0.0002900243266167236,0.45821917660358735,-0.45104344403096397],"tcp_position_m":[-0.12546498730729563,0.47709181219802577,0.3581668471457647],"tcp_quaternion_wxyz":[1.090087510418116e-05,0.7071038874940428,0.7071096744166184,-2.2768521853701527e-05],"object_position_m":[-0.12547012074872035,0.47703853827521425,0.3525215052157094],"object_quaternion_wxyz":[0.999999829626548,-0.0005819650485676112,4.0983601131206055e-05,1.9593400084934983e-05],"object_linear_velocity_m_s":[0.0002560747044771641,0.0006038931174905655,0.08215665889511715],"object_angular_velocity_rad_s":[0.007447518444329281,0.00036849990797466393,-0.0008059151292169637],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322863267524945,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0885258852993,"right":46.08918342827304},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887433119773773,-1.616595292624423,1.4879774364869673,-1.467322207573516,-1.5707764893355862,-0.01795136205131189,180.0],"actuator_force":[0.07292796339334018,-18.99220013094373,-19.81105690993354,-2.568830068813554,0.0016904829564055035,-9.747752951483335e-07,5.0],"issued_joint_targets_rad":[-1.5887478172012681,-1.6065092880628054,1.493657580709262,-1.4581719388388052,-1.5707778629160423,-0.017951482242608025],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5887478172012681,-1.6065092880628054,1.493657580709262,-1.4581719388388052,-1.5707778629160423,-0.017951482242608025],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.859999999999686,"qpos":[-1.5887379448188639,-1.6089886899435342,1.5375565800499404,-1.49931521287091,-1.5707801366180927,-0.017949848822568417,0.46118355202072936,0.0002925448198950064,0.4582798782740866,-0.45085094672805365,0.46118343258037087,0.0002900603269650483,0.45821923383594454,-0.451043690652808,-0.12547021544969866,0.47703697811175516,0.35421802562225385,0.9999998289791252,-0.0005830084788924456,4.209778769573551e-05,1.925125387484387e-05],"qvel":[-0.0002128474783614388,0.011641406302512152,-0.22220300686137143,0.20730178336913013,2.139025395679729e-06,-8.168366777527548e-06,0.00010017501253697774,-6.826103817450009e-05,0.00011319536622087469,0.00019770221207521865,0.0001147709288622091,-3.13496076963924e-05,0.0002646425525605848,0.00012127164395611361,0.0002591141210672494,0.0006105240536080689,0.08214494957983554,0.007446139490215173,0.0003680537706283734,-0.000810875141100922],"joint_position_rad":[-1.5887379448188639,-1.6089886899435342,1.5375565800499404,-1.49931521287091,-1.5707801366180927,-0.017949848822568417],"joint_velocity_rad_s":[-0.0002128474783614388,0.011641406302512152,-0.22220300686137143,0.20730178336913013,2.139025395679729e-06,-8.168366777527548e-06],"linkage_position_rad":[0.46118355202072936,0.0002925448198950064,0.4582798782740866,-0.45085094672805365,0.46118343258037087,0.0002900603269650483,0.45821923383594454,-0.451043690652808],"tcp_position_m":[-0.1254650686778261,0.4770876933881654,0.35986275317579736],"tcp_quaternion_wxyz":[1.1185960757438102e-05,0.7071038710586358,0.707109690831636,-2.3254106877144916e-05],"object_position_m":[-0.12547021544969866,0.47703697811175516,0.35421802562225385],"object_quaternion_wxyz":[0.9999998289791252,-0.0005830084788924456,4.209778769573551e-05,1.925125387484387e-05],"object_linear_velocity_m_s":[0.0002591141210672494,0.0006105240536080689,0.08214494957983554],"object_angular_velocity_rad_s":[0.007446057015360747,0.0003673943543233619,-0.0008119308423009167],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632285949973512,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08849909599,"right":46.08915989900783},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887434358239363,-1.616162520343802,1.4832140482405656,-1.46299240914697,-1.5707763372309125,-0.01795148493886014,180.0],"actuator_force":[0.07415698119984881,-19.004223321540394,-19.80386087420129,-2.568776474942979,0.001685791050476837,-1.2214681088806856e-06,5.0],"issued_joint_targets_rad":[-1.5887479459281793,-1.6060558022460862,1.4888723651354996,-1.453841014656939,-1.5707777105760434,-0.017951610983177102],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5887479459281793,-1.6060558022460862,1.4888723651354996,-1.453841014656939,-1.5707777105760434,-0.017951610983177102],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8799999999996837,"qpos":[-1.5887380724228677,-1.6087036383647022,1.5329453926825003,-1.4949879040006002,-1.5707798831344484,-0.017950017519331264,0.461183556802422,0.000292498861380937,0.4582798440363276,-0.4508506581187394,0.4611834449220876,0.00029009455142586766,0.458219289605409,-0.4510439253456767,-0.125470302556251,0.4770356161286854,0.3559144016316803,0.9999998283027373,-0.0005840999474379185,4.3169062891228507e-05,1.8925613180290088e-05],"qvel":[-0.0002159321550183144,0.012499405526718818,-0.2230772159192412,0.20731957838789175,1.6853369865727272e-06,-7.966639182150482e-06,0.00010158616495333048,-6.859071080807298e-05,0.00011459713230349538,0.00019699973200040048,0.00011628087962386424,-3.15807698428115e-05,0.00026718155151150385,0.00012156465636116865,0.000262160422238024,0.0006174005529759771,0.08213314168085697,0.007445052285790984,0.0003671797549321264,-0.000816967310453012],"joint_position_rad":[-1.5887380724228677,-1.6087036383647022,1.5329453926825003,-1.4949879040006002,-1.5707798831344484,-0.017950017519331264],"joint_velocity_rad_s":[-0.0002159321550183144,0.012499405526718818,-0.2230772159192412,0.20731957838789175,1.6853369865727272e-06,-7.966639182150482e-06],"linkage_position_rad":[0.461183556802422,0.000292498861380937,0.4582798440363276,-0.4508506581187394,0.4611834449220876,0.00029009455142586766,0.458219289605409,-0.4510439253456767],"tcp_position_m":[-0.12546514321189337,0.47708377704694305,0.3615584978137265],"tcp_quaternion_wxyz":[1.1501981145560593e-05,0.7071038565246829,0.7071097053434398,-2.3764228712066282e-05],"object_position_m":[-0.125470302556251,0.4770356161286854,0.3559144016316803],"object_quaternion_wxyz":[0.9999998283027373,-0.0005840999474379185,4.3169062891228507e-05,1.8925613180290088e-05],"object_linear_velocity_m_s":[0.000262160422238024,0.0006174005529759771,0.08213314168085697],"object_angular_velocity_rad_s":[0.007444967818638345,0.00036650655068465066,-0.0008180386449838432],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463228556482782,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08847206046481,"right":46.08913609810755},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.58874356545776,-1.6157120864946435,1.4784317899999642,-1.4586614404068117,-1.5707761840585666,-0.017951613680595804,180.0],"actuator_force":[0.07538679222261635,-19.01665847057029,-19.796318997376147,-2.5687260418949336,0.0016810042423003324,-1.4167140527376887e-06,5.0],"issued_joint_targets_rad":[-1.5887480802241072,-1.6055844200124043,1.4840679679130593,-1.449508815892605,-1.5707775570941331,-0.01795174527127884],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5887480802241072,-1.6055844200124043,1.4840679679130593,-1.449508815892605,-1.5707775570941331,-0.01795174527127884],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.8999999999996815,"qpos":[-1.5887382014821132,-1.6084008052814016,1.5283160389172095,-1.4906601398010084,-1.5707796389940611,-0.017950182893770854,0.46118356191490334,0.0002924543302569729,0.4582798114779922,-0.4508503793498914,0.46118345731712146,0.00029012706054528395,0.4582193439779432,-0.4510441485204019,-0.12547038212814401,0.4770344576549427,0.35761063262635145,0.9999998275994835,-0.0005852357376977779,4.4199355182982934e-05,1.8615878474301617e-05],"qvel":[-0.00021903926372515017,0.013357999650452155,-0.223956497549799,0.20734150587282757,1.2848094039209712e-06,-7.80971278316624e-06,0.0001030107461895693,-6.892677204948336e-05,0.00011601129772235794,0.00019631650572089852,0.0001178054094751797,-3.181112309437136e-05,0.0002697461438910266,0.00012183652132235695,0.00026521407824370237,0.0006245320802821628,0.08212123346703466,0.007444298054030436,0.0003665136877688744,-0.0008231512570349847],"joint_position_rad":[-1.5887382014821132,-1.6084008052814016,1.5283160389172095,-1.4906601398010084,-1.5707796389940611,-0.017950182893770854],"joint_velocity_rad_s":[-0.00021903926372515017,0.013357999650452155,-0.223956497549799,0.20734150587282757,1.2848094039209712e-06,-7.80971278316624e-06],"linkage_position_rad":[0.46118356191490334,0.0002924543302569729,0.4582798114779922,-0.4508503793498914,0.46118345731712146,0.00029012706054528395,0.4582193439779432,-0.4510441485204019],"tcp_position_m":[-0.12546521093831584,0.47708006842462153,0.36325408021336575],"tcp_quaternion_wxyz":[1.1845815450203248e-05,0.7071038436792217,0.7071097181650307,-2.429645282433292e-05],"object_position_m":[-0.12547038212814401,0.4770344576549427,0.35761063262635145],"object_quaternion_wxyz":[0.9999998275994835,-0.0005852357376977779,4.4199355182982934e-05,1.8615878474301617e-05],"object_linear_velocity_m_s":[0.00026521407824370237,0.0006245320802821628,0.08212123346703466],"object_angular_velocity_rad_s":[0.007444211607316149,0.0003658267393216172,-0.0008242379115390853],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632285171220192,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088444774630496,"right":46.089112023172575},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588743700566667,-1.615243958752897,1.4736305240153502,-1.4543291963659886,-1.5707760297758122,-0.017951747970030844,180.0],"actuator_force":[0.07661753638240043,-19.0295068031719,-19.788430783798958,-2.568678869772839,0.0016761281840445008,-1.5668516777367358e-06,5.0],"issued_joint_targets_rad":[-1.5887482197648695,-1.6050951065498547,1.4792442477315213,-1.4451752362961294,-1.5707774024312446,-0.017951884785424883],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5887482197648695,-1.6050951065498547,1.4792442477315213,-1.4451752362961294,-1.5707774024312446,-0.017951884785424883],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9199999999996793,"qpos":[-1.588738332272105,-1.608080176659149,1.52366841034566,-1.486331832971681,-1.5707794031883207,-0.017950345766783744,0.46118356735639526,0.0002924111667947752,0.45827978054389573,-0.4508501100212079,0.46118346977422714,0.00029015791239347304,0.45821939701697156,-0.4510443605710823,-0.12547045422412084,0.47703350822477625,0.3593067179670741,0.9999998268712422,-0.0005864125073091522,4.5190493040589454e-05,1.8321468306654336e-05],"qvel":[-0.00022216614311476493,0.014217294525133954,-0.22484101726957512,0.20736766144516033,9.32562712965707e-07,-7.691817613317234e-06,0.00010444898653820852,-6.92691798244266e-05,0.0001174381744733042,0.0001956517361238344,0.00011934474696478305,-3.20408118956406e-05,0.0002723366414667177,0.0001220880281829435,0.0002682755596576941,0.000631928785227179,0.08210922317889319,0.007443841295201405,0.0003660464811530302,-0.0008294263062412497],"joint_position_rad":[-1.588738332272105,-1.608080176659149,1.52366841034566,-1.486331832971681,-1.5707794031883207,-0.017950345766783744],"joint_velocity_rad_s":[-0.00022216614311476493,0.014217294525133954,-0.22484101726957512,0.20736766144516033,9.32562712965707e-07,-7.691817613317234e-06],"linkage_position_rad":[0.46118356735639526,0.0002924111667947752,0.45827978054389573,-0.4508501100212079,0.46118346977422714,0.00029015791239347304,0.45821939701697156,-0.4510443605710823],"tcp_position_m":[-0.12546527188636653,0.47707657297655703,0.3649494995030016],"tcp_quaternion_wxyz":[1.2214645141173783e-05,0.7071038323294359,0.7071097294892599,-2.4848584048004428e-05],"object_position_m":[-0.12547045422412084,0.47703350822477625,0.3593067179670741],"object_quaternion_wxyz":[0.9999998268712422,-0.0005864125073091522,4.5190493040589454e-05,1.8321468306654336e-05],"object_linear_velocity_m_s":[0.0002682755596576941,0.000631928785227179,0.08210922317889319],"object_angular_velocity_rad_s":[0.007443752880852431,0.0003653458256605463,-0.0008305279817494506],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322847690539536,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08841723419386,"right":46.08908767152857},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588743840823692,-1.6147581025597684,1.468810109035203,-1.4499955707886132,-1.5707758743402078,-0.017951887485667638,180.0],"actuator_force":[0.07784935407198645,-19.042769611292442,-19.78019571308323,-2.568635052982131,0.0016711677851617424,-1.6776806148754986e-06,5.0],"issued_joint_targets_rad":[-1.5887483642100009,-1.6045878246855985,1.474401059643875,-1.4408401683440546,-1.5707772465481253,-0.01795202918762411],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.5887483642100009,-1.6045878246855985,1.474401059643875,-1.4408401683440546,-1.5707772465481253,-0.01795202918762411],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.939999999999677,"qpos":[-1.5887384650085212,-1.6077417362584228,1.519002395122852,-1.482002894289467,-1.5707791748014686,-0.01795050684826169,0.4611835731252454,0.00029236931345676494,0.45827975118098635,-0.4508498497472939,0.46118348230187467,0.0002901871626471371,0.4582194487834752,-0.4510445618756448,-0.12547051890222882,0.4770327735930819,0.36100265699309136,0.9999998261196932,-0.0005876272525421559,4.614421110309292e-05,1.8041819991648552e-05],"qvel":[-0.00022531035195203674,0.015077396790538723,-0.22573094159343718,0.20739813744265798,6.241874886663718e-07,-7.607661025525743e-06,0.00010590112442645857,-6.961789848564047e-05,0.0001188780785074895,0.00019500465187278525,0.00012089913021858031,-3.226997771871219e-05,0.00027495337602591725,0.00012231993870140967,0.0002713453388563827,0.0006396015669401648,0.08209710902322452,0.007443649895085198,0.00036576966290603757,-0.0008357917699414624],"joint_position_rad":[-1.5887384650085212,-1.6077417362584228,1.519002395122852,-1.482002894289467,-1.5707791748014686,-0.01795050684826169],"joint_velocity_rad_s":[-0.00022531035195203674,0.015077396790538723,-0.22573094159343718,0.20739813744265798,6.241874886663718e-07,-7.607661025525743e-06],"linkage_position_rad":[0.4611835731252454,0.00029236931345676494,0.45827975118098635,-0.4508498497472939,0.46118348230187467,0.0002901871626471371,0.4582194487834752,-0.4510445618756448],"tcp_position_m":[-0.1254653260860181,0.4770732963782571,0.36664475478492947],"tcp_quaternion_wxyz":[1.260592503487382e-05,0.7071038223006009,0.707109739490882,-2.541864368265004e-05],"object_position_m":[-0.12547051890222882,0.4770327735930819,0.36100265699309136],"object_quaternion_wxyz":[0.9999998261196932,-0.0005876272525421559,4.614421110309292e-05,1.8041819991648552e-05],"object_linear_velocity_m_s":[0.0002713453388563827,0.0006396015669401648,0.08209710902322452],"object_angular_velocity_rad_s":[0.0074435595242368325,0.00036505533105764406,-0.0008369081813530575],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632284358230792,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088389434710635,"right":46.08906304027926},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887439858855639,-1.614254481028953,1.4639704001850795,-1.4456604561624236,-1.5707757177094377,-0.01795203188950685,180.0],"actuator_force":[0.07908238669551793,-19.05644825727586,-19.771613238170175,-2.568594680744127,0.001666127266616968,-1.7545200279300843e-06,5.0],"issued_joint_targets_rad":[-1.5887485132011094,-1.604062534784815,1.4695382549361629,-1.4365035032105524,-1.5707770894052016,-0.017952178121760646],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.5887485132011094,-1.604062534784815,1.4695382549361629,-1.4365035032105524,-1.5707770894052016,-0.017952178121760646],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.959999999999675,"qpos":[-1.5887385998508663,-1.6073854656115265,1.5143178779376316,-1.4776732326682014,-1.5707789530016718,-0.017950666746002052,0.46118357921991987,0.00029232871482081155,0.45827972333826783,-0.4508495981571192,0.46118349490825694,0.0002902148646693328,0.45821949933607875,-0.45104475279636186,-0.1254705762201459,0.47703225975221464,0.362698449022007,0.9999998253463385,-0.0005888772762267732,4.706215588151555e-05,1.7776390139014187e-05],"qvel":[-0.00022846964395885493,0.0159384142726809,-0.2266264385424227,0.20743302336444489,3.557005292568959e-07,-7.552374495054688e-06,0.00010736740560167004,-6.99728987071377e-05,0.00012033132945436248,0.00019437450951480115,0.00012246880609154088,-3.2498759324770595e-05,0.0002775966995796721,0.00012253299011941526,0.0002744238916158712,0.0006475621466458542,0.08208488916758401,0.007443694798871077,0.0003656753337097429,-0.0008422469645616863],"joint_position_rad":[-1.5887385998508663,-1.6073854656115265,1.5143178779376316,-1.4776732326682014,-1.5707789530016718,-0.017950666746002052],"joint_velocity_rad_s":[-0.00022846964395885493,0.0159384142726809,-0.2266264385424227,0.20743302336444489,3.557005292568959e-07,-7.552374495054688e-06],"linkage_position_rad":[0.46118357921991987,0.00029232871482081155,0.45827972333826783,-0.4508495981571192,0.46118349490825694,0.0002902148646693328,0.45821949933607875,-0.45104475279636186],"tcp_position_m":[-0.12546537356819493,0.4770702445419173,0.3683398451349126],"tcp_quaternion_wxyz":[1.3017357130892085e-05,0.7071038134342257,0.7071097483284127,-2.600484880515121e-05],"object_position_m":[-0.1254705762201459,0.47703225975221464,0.362698449022007],"object_quaternion_wxyz":[0.9999998253463385,-0.0005888772762267732,4.706215588151555e-05,1.7776390139014187e-05],"object_linear_velocity_m_s":[0.0002744238916158712,0.0006475621466458542,0.08208488916758401],"object_angular_velocity_rad_s":[0.007443602481883772,0.0003649473498434312,-0.0008433778401603199],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322839386506026,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088361371467656,"right":46.08903812619235},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887441353910547,-1.6137330548458633,1.4591112488374531,-1.4413237436704054,-1.5707755598411468,-0.01795218082542536,180.0],"actuator_force":[0.08031677720646258,-19.070544177745887,-19.7626827833883,-2.56855783754645,0.0016610102096592527,-1.8022621492974622e-06,5.0],"issued_joint_targets_rad":[-1.5887486663600712,-1.6035191946404492,1.4646556809870996,-1.4321651307379983,-1.57077693096245,-0.0179523312118134],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.5887486663600712,-1.6035191946404492,1.4646556809870996,-1.4321651307379983,-1.57077693096245,-0.0179523312118134],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9799999999996727,"qpos":[-1.5887387369055919,-1.6070113439911768,1.5096147399726723,-1.4733427552098473,-1.5707787370329396,-0.017950825973594178,0.4611835856390045,0.00029228931750518484,0.4582796969667316,-0.4508493548935254,0.46118350760130394,0.0002902410695856301,0.4582195487311378,-0.45104493368035536,-0.12547062623550836,0.47703197295046934,0.36439409334964634,0.9999998245525172,-0.0005901601587868828,4.7945891037085264e-05,1.7524655060024687e-05],"qvel":[-0.00023164194450885406,0.016800456386380055,-0.22752767814937225,0.20747240627681154,1.2350481219786915e-07,-7.5214647940661676e-06,0.00010884808477942362,-7.0334157661938e-05,0.00012179825180804916,0.00019376058906119385,0.000124054031873478,-3.272729286666872e-05,0.000280266986158552,0.0001227278949488456,0.0002775116987097365,0.0006558231498018582,0.0820725617345298,0.007443949716341261,0.00036575612819483546,-0.0008487912275971453],"joint_position_rad":[-1.5887387369055919,-1.6070113439911768,1.5096147399726723,-1.4733427552098473,-1.5707787370329396,-0.017950825973594178],"joint_velocity_rad_s":[-0.00023164194450885406,0.016800456386380055,-0.22752767814937225,0.20747240627681154,1.2350481219786915e-07,-7.5214647940661676e-06],"linkage_position_rad":[0.4611835856390045,0.00029228931750518484,0.4582796969667316,-0.4508493548935254,0.46118350760130394,0.0002902410695856301,0.4582195487311378,-0.45104493368035536],"tcp_position_m":[-0.12546541436502898,0.4770674236346262,0.370034769601563],"tcp_quaternion_wxyz":[1.344686696306757e-05,0.7071038055863706,0.7071097561458165,-2.660559357468634e-05],"object_position_m":[-0.12547062623550836,0.47703197295046934,0.36439409334964634],"object_quaternion_wxyz":[0.9999998245525172,-0.0005901601587868828,4.7945891037085264e-05,1.7524655060024687e-05],"object_linear_velocity_m_s":[0.0002775116987097365,0.0006558231498018582,0.0820725617345298],"object_angular_velocity_rad_s":[0.007443855462816004,0.0003650145104025889,-0.0008499363085990597],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463228351021135,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08833303957768,"right":46.089012925798215},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887442889591719,-1.6131937821578128,1.454232502471534,-1.4369853231615546,-1.5707754006927852,-0.017952333917395685,180.0],"actuator_force":[0.08155267064375948,-19.08505888782429,-19.753403742527553,-2.568524603534911,0.0016558195958396027,-1.825421346524081e-06,5.0],"issued_joint_targets_rad":[-1.588748823287053,-1.602957759352535,1.459753181116402,-1.4278249394066729,-1.5707767711792662,-0.01795248805989971],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.588748823287053,-1.602957759352535,1.459753181116402,-1.4278249394066729,-1.5707767711792662,-0.01795248805989971],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":3.9999999999996705,"qpos":[-1.5887388762287178,-1.6066193483706366,1.5048928588539465,-1.4690113672478249,-1.5707785262078027,-0.01795098495736325,0.46118359238120143,0.00029225107009844505,0.45827967201928943,-0.45084911961273166,0.46118352038869237,0.0002902658263568562,0.45821959702281945,-0.4510451048600827,-0.1254706690062448,0.4770319197124482,0.366089589249854,0.9999998237394232,-0.0005914737320850381,4.879690226395517e-05,1.7286111058328573e-05],"qvel":[-0.00023482532896799984,0.017663634547795633,-0.22843483296846578,0.2075163711838656,-7.564667953256121e-08,-7.510769038352747e-06,0.00011034342566550723,-7.070165912790467e-05,0.0001232791752917198,0.00019316219588111895,0.00012565507534182803,-3.295571228581549e-05,0.0002829646325230778,0.0001229053423024556,0.0002806092475421395,0.0006643981991733723,0.08206012479566326,0.00744439085559179,0.00036600517915469155,-0.0008554239323653236],"joint_position_rad":[-1.5887388762287178,-1.6066193483706366,1.5048928588539465,-1.4690113672478249,-1.5707785262078027,-0.01795098495736325],"joint_velocity_rad_s":[-0.00023482532896799984,0.017663634547795633,-0.22843483296846578,0.2075163711838656,-7.564667953256121e-08,-7.510769038352747e-06],"linkage_position_rad":[0.46118359238120143,0.00029225107009844505,0.45827967201928943,-0.45084911961273166,0.46118352038869237,0.0002902658263568562,0.45821959702281945,-0.4510451048600827],"tcp_position_m":[-0.12546544851012933,0.47706484009845096,0.37172952720564334],"tcp_quaternion_wxyz":[1.389258222057041e-05,0.7071037986261155,0.7071097630740337,-2.7219432347242993e-05],"object_position_m":[-0.1254706690062448,0.4770319197124482,0.366089589249854],"object_quaternion_wxyz":[0.9999998237394232,-0.0005914737320850381,4.879690226395517e-05,1.7286111058328573e-05],"object_linear_velocity_m_s":[0.0002806092475421395,0.0006643981991733723,0.08206012479566326],"object_angular_velocity_rad_s":[0.007444294674384038,0.0003652499393797825,-0.0008565829724963281],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632283072808913,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08830443391292,"right":46.08898743532939},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887444461871758,-1.6126366184539445,1.4493340045218135,-1.4326450831207458,-1.5707752402214519,-0.017952490767529573,180.0],"actuator_force":[0.08279021467114944,-19.099993985734272,-19.74377547687982,-2.5684950548470624,0.001650557843390743,-1.8281793252583611e-06,5.0],"issued_joint_targets_rad":[-1.5887489835583288,-1.6023781811956692,1.4548305944203845,-1.4234828163035715,-1.5707766100143385,-0.017952648244107364],"issued_gripper_0_255":180.0,"command":{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.5887489835583288,-1.6023781811956692,1.4548305944203845,-1.4234828163035715,-1.5707766100143385,-0.017952648244107364],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.019999999999677,"qpos":[-1.5887390178279752,-1.6062094533750826,1.500152108589492,-1.4646789723831952,-1.570778319900682,-0.017951144042441605,0.46118359944532533,0.0002922139230901618,0.4582796484507061,-0.4508488919838617,0.46118353327785433,0.00029028918184857954,0.45821964426317774,-0.4510452666537923,-0.12547070459091803,0.47703210686157427,0.36778493597423145,0.9999998229081167,-0.0005928160558190082,4.961660181324019e-05,1.7060274637711965e-05],"qvel":[-0.00023801800244122574,0.01852806260264603,-0.2293480785949566,0.20756500136645856,-2.4468366099414873e-07,-7.51641307229581e-06,0.0001118537016192321,-7.107539359482551e-05,0.00012477443540496075,0.00019257865880289171,0.00012727221549989248,-3.318414940308708e-05,0.00028569005940775845,0.00012306599988778382,0.0002837170339837704,0.0006733020205943825,0.08204757636527936,0.0074449966820284725,0.00036641608549218836,-0.0008621445016735659],"joint_position_rad":[-1.5887390178279752,-1.6062094533750826,1.500152108589492,-1.4646789723831952,-1.570778319900682,-0.017951144042441605],"joint_velocity_rad_s":[-0.00023801800244122574,0.01852806260264603,-0.2293480785949566,0.20756500136645856,-2.4468366099414873e-07,-7.51641307229581e-06],"linkage_position_rad":[0.46118359944532533,0.0002922139230901618,0.4582796484507061,-0.4508488919838617,0.46118353327785433,0.00029028918184857954,0.45821964426317774,-0.4510452666537923],"tcp_position_m":[-0.12546547603885833,0.4770625006726645,0.3734241169392819],"tcp_quaternion_wxyz":[1.4352813426146063e-05,0.7071037924341753,0.7071097692323695,-2.784506442133673e-05],"object_position_m":[-0.12547070459091803,0.47703210686157427,0.36778493597423145],"object_quaternion_wxyz":[0.9999998229081167,-0.0005928160558190082,4.961660181324019e-05,1.7060274637711965e-05],"object_linear_velocity_m_s":[0.0002837170339837704,0.0006733020205943825,0.08204757636527936],"object_angular_velocity_rad_s":[0.007444898581260391,0.0003656472296185123,-0.000863317266772647],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463228262633696,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088275549086646,"right":46.088961650702124},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887446066483915,-1.6120615164334775,1.444415594213883,-1.4283029106376912,-1.5707750783837464,-0.01795265095390993,180.0],"actuator_force":[0.08402956014379015,-19.11535115784818,-19.7337973132353,-2.568469263893803,0.0016452268338298381,-1.8144269340325536e-06,5.0],"issued_joint_targets_rad":[-1.5887491467238617,-1.6017804094729493,1.4498877555931056,-1.4191386470903082,-1.570776447425516,-0.017952811316100537],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5887491467238617,-1.6017804094729493,1.4498877555931056,-1.4191386470903082,-1.570776447425516,-0.017952811316100537],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.039999999999684,"qpos":[-1.5887391616644841,-1.605781631223784,1.4953923594971397,-1.4603454725142828,-1.5707781175418791,-0.017951303498029772,0.46118360683029486,0.0002921778288051536,0.45827962621753254,-0.45084867168847526,0.4611835462759804,0.0002903111808969216,0.4582196905022207,-0.45104541936595166,-0.12547073304908088,0.47703254154504693,0.36948013275181407,0.9999998220595372,-0.0005941853962239663,5.040633267875495e-05,1.6846682639302132e-05],"qvel":[-0.00024121828072240297,0.019393857276504712,-0.2302675942020927,0.20761837869239896,-3.862480560426443e-07,-7.534772804478197e-06,0.00011337919629265006,-7.145535849836973e-05,0.0001262843743206369,0.00019200933041423922,0.00012890574322315548,-3.341273437473975e-05,0.0002884437129366896,0.0001232105146157718,0.0002868355641525376,0.0006825505634862069,0.08203491439362003,0.007445747701002692,0.00036698288270732517,-0.0008689524203312242],"joint_position_rad":[-1.5887391616644841,-1.605781631223784,1.4953923594971397,-1.4603454725142828,-1.5707781175418791,-0.017951303498029772],"joint_velocity_rad_s":[-0.00024121828072240297,0.019393857276504712,-0.2302675942020927,0.20761837869239896,-3.862480560426443e-07,-7.534772804478197e-06],"linkage_position_rad":[0.46118360683029486,0.0002921778288051536,0.45827962621753254,-0.45084867168847526,0.4611835462759804,0.0002903111808969216,0.4582196905022207,-0.45104541936595166],"tcp_position_m":[-0.1254654969886311,0.4770604124183947,0.3751185377650961],"tcp_quaternion_wxyz":[1.4826036475253533e-05,0.7071037869016312,0.7071097747297621,-2.8481320267668387e-05],"object_position_m":[-0.12547073304908088,0.47703254154504693,0.36948013275181407],"object_quaternion_wxyz":[0.9999998220595372,-0.0005941853962239663,5.040633267875495e-05,1.6846682639302132e-05],"object_linear_velocity_m_s":[0.0002868355641525376,0.0006825505634862069,0.08203491439362003],"object_angular_velocity_rad_s":[0.007445647688073672,0.0003662004106410076,-0.0008701386879780051],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632282170686796,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088246379455406,"right":46.08893556752308},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887447698897874,-1.6114684258606038,1.4394771063858132,-1.4239586913749758,-1.5707749151356174,-0.017952814028196713,180.0],"actuator_force":[0.08527086168214737,-19.131132184241324,-19.723468541816146,-2.56844729958641,0.0016398279364011614,-1.7878030220686014e-06,5.0],"issued_joint_targets_rad":[-1.588749312304607,-1.6011643903543864,1.4449244947310547,-1.4147923159701041,-1.5707762833696748,-0.01795297679843602],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.588749312304607,-1.6011643903543864,1.4449244947310547,-1.4147923159701041,-1.5707762833696748,-0.01795297679843602],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.0599999999996905,"qpos":[-1.5887393076539849,-1.6053358516625145,1.490613478120719,-1.4560107678602834,-1.5707779186121307,-0.017951463521897297,0.4611836145351295,0.0002921427413389708,0.45827960527804135,-0.4508484584201448,0.4611835593900279,0.0002903318663710063,0.45821973578798125,-0.45104556328765805,-0.1254707544416491,0.4770332312615854,0.3711751787886906,0.9999998211945167,-0.000595580206859555,5.116737248011267e-05,1.664489232843987e-05],"qvel":[-0.00024442457216200764,0.02026113865440019,-0.2311935631028879,0.20767658390070803,-5.027206380940015e-07,-7.56243791996314e-06,0.00011492020508960797,-7.184155834482616e-05,0.00012780934185899881,0.00019145358412793302,0.00013055596280514345,-3.364159588652883e-05,0.00029122606700812155,0.0001233395137350926,0.00028996535657965344,0.0006921611386263166,0.08202213675957554,0.007446626261280942,0.0003677000165066413,-0.0008758472469679198],"joint_position_rad":[-1.5887393076539849,-1.6053358516625145,1.490613478120719,-1.4560107678602834,-1.5707779186121307,-0.017951463521897297],"joint_velocity_rad_s":[-0.00024442457216200764,0.02026113865440019,-0.2311935631028879,0.20767658390070803,-5.027206380940015e-07,-7.56243791996314e-06],"linkage_position_rad":[0.4611836145351295,0.0002921427413389708,0.45827960527804135,-0.4508484584201448,0.4611835593900279,0.0002903318663710063,0.45821973578798125,-0.45104556328765805],"tcp_position_m":[-0.12546551139923054,0.47705858274605195,0.3768127886152227],"tcp_quaternion_wxyz":[1.5310876851976476e-05,0.7071037819287734,0.7071097796659377,-2.912714908964023e-05],"object_position_m":[-0.1254707544416491,0.4770332312615854,0.3711751787886906],"object_quaternion_wxyz":[0.9999998211945167,-0.000595580206859555,5.116737248011267e-05,1.664489232843987e-05],"object_linear_velocity_m_s":[0.00028996535657965344,0.0006921611386263166,0.08202213675957554],"object_angular_velocity_rad_s":[0.007446524342876325,0.00036690392224978443,-0.0008770468061325778],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632281705747267,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08821691907776,"right":46.088909181052045},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887449354292746,-1.6108572934040484,1.434518371293087,-1.4196123095351625,-1.5707747504322098,-0.017952979512943074,180.0],"actuator_force":[0.08651427828544911,-19.14733894482788,-19.712788414109127,-2.5684292275103644,0.0016343620242196266,-1.751730893673198e-06,5.0],"issued_joint_targets_rad":[-1.5887494797895036,-1.600530066697406,1.4399406371189754,-1.4104437056538315,-1.5707761178025814,-0.01795314418157011],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5887494797895036,-1.600530066697406,1.4399406371189754,-1.4104437056538315,-1.5707761178025814,-0.01795314418157011],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.079999999999697,"qpos":[-1.5887394556676173,-1.6048720818854554,1.4858153271340673,-1.4516747569793367,-1.570777722637672,-0.01795162424416676,0.4611836225589402,0.00029210861649785094,0.45827958559216486,-0.450848251884017,0.4611835726267212,0.00029035127923168183,0.45821978016657305,-0.45104569869701755,-0.12547076883129615,0.47703418389237306,0.372870073267564,0.9999998203137856,-0.0005969991113016401,5.190093705580737e-05,1.645448144968159e-05],"qvel":[-0.0002476353603227747,0.02113003069806184,-0.2321261733455152,0.20773969686245589,-5.962450394167811e-07,-7.596177650719161e-06,0.0001164770350269573,-7.22340051193563e-05,0.0001293496958167378,0.00019091081655251725,0.00013222319198696384,-3.3870861375639e-05,0.0002940376241624029,0.0001234536080871279,0.0002931069443886137,0.0007021525761889227,0.08200924126276984,0.007447616377469854,0.00036856231900334735,-0.0008828286252564975],"joint_position_rad":[-1.5887394556676173,-1.6048720818854554,1.4858153271340673,-1.4516747569793367,-1.570777722637672,-0.01795162424416676],"joint_velocity_rad_s":[-0.0002476353603227747,0.02113003069806184,-0.2321261733455152,0.20773969686245589,-5.962450394167811e-07,-7.596177650719161e-06],"linkage_position_rad":[0.4611836225589402,0.00029210861649785094,0.45827958559216486,-0.450848251884017,0.4611835726267212,0.00029035127923168183,0.45821978016657305,-0.45104569869701755],"tcp_position_m":[-0.12546551931314967,0.47705701944592604,0.3785068683902417],"tcp_quaternion_wxyz":[1.5806095369285786e-05,0.7071037774240428,0.7071097841324728,-2.9781607596516867e-05],"object_position_m":[-0.12547076883129615,0.47703418389237306,0.372870073267564],"object_quaternion_wxyz":[0.9999998203137856,-0.0005969991113016401,5.190093705580737e-05,1.645448144968159e-05],"object_linear_velocity_m_s":[0.0002931069443886137,0.0007021525761889227,0.08200924126276984],"object_angular_velocity_rad_s":[0.007447512559567645,0.00036775259071981714,-0.000884041275970536],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632281231404603,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08818716169542,"right":46.0888824861824},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887451027526942,-1.6102280624589267,1.4295392143946777,-1.4152636478269385,-1.5707745842277119,-0.01795314689860223,180.0],"actuator_force":[0.08775997397515312,-19.163973426167104,-19.701756140573252,-2.5684151100464305,0.0016288294840478557,-1.7094526647554176e-06,5.0],"issued_joint_targets_rad":[-1.5887496486320898,-1.599877377846606,1.4349360029939788,-1.4060926973251369,-1.5707759506787444,-0.017953312920495092],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5887496486320898,-1.599877377846606,1.4349360029939788,-1.4060926973251369,-1.5707759506787444,-0.017953312920495092],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.099999999999704,"qpos":[-1.588739605532256,-1.604390286445646,1.4809977652319803,-1.4473373367814901,-1.5707775291857582,-0.01795178573041435,0.46118363090091674,0.00029207541173961987,0.45827956712142937,-0.45084805179640686,0.46118358599255027,0.00029036945858536533,0.4582198236822432,-0.4510458258594921,-0.12547077628287673,0.4770354077356782,0.3745648153472545,0.9999998194179867,-0.0005984408875491043,5.2608183790517e-05,1.6275048261889096e-05],"qvel":[-0.00025084918711867227,0.022000661810451187,-0.2330656183522853,0.20780779682018408,-6.687493894610154e-07,-7.632908127276456e-06,0.00011805000704802896,-7.263271841997876e-05,0.00013090580414530626,0.00019038044401084312,0.00013390776421287986,-3.410065762866554e-05,0.00029687891897546315,0.00012355339017793254,0.0002962608778274578,0.0007125454076958831,0.0819962256148322,0.007448703569972543,0.000369564987032361,-0.0008898962948406261],"joint_position_rad":[-1.588739605532256,-1.604390286445646,1.4809977652319803,-1.4473373367814901,-1.5707775291857582,-0.01795178573041435],"joint_velocity_rad_s":[-0.00025084918711867227,0.022000661810451187,-0.2330656183522853,0.20780779682018408,-6.687493894610154e-07,-7.632908127276456e-06],"linkage_position_rad":[0.46118363090091674,0.00029207541173961987,0.45827956712142937,-0.45084805179640686,0.46118358599255027,0.00029036945858536533,0.4582198236822432,-0.4510458258594921],"tcp_position_m":[-0.1254655207759647,0.47705573072243407,0.38020077595798335],"tcp_quaternion_wxyz":[1.6310575286512175e-05,0.7071037733030487,0.7071097882137731,-3.044384987630625e-05],"object_position_m":[-0.12547077628287673,0.4770354077356782,0.3745648153472545],"object_quaternion_wxyz":[0.9999998194179867,-0.0005984408875491043,5.2608183790517e-05,1.6275048261889096e-05],"object_linear_velocity_m_s":[0.0002962608778274578,0.0007125454076958831,0.0819962256148322],"object_angular_velocity_rad_s":[0.007448597857848216,0.00036874160710530815,-0.0008911218478869157],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322807475423056,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08815710070378,"right":46.08885547741553},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887452713104295,-1.6095806729480877,1.424539456117431,-1.4109125874303254,-1.5707744164751922,-0.017953315640163864,180.0],"actuator_force":[0.08900811850071477,-19.181037729063974,-19.69037088818459,-2.5684050064360235,0.0016232302218668337,-1.6640620312813326e-06,5.0],"issued_joint_targets_rad":[-1.5887498182466924,-1.5992062594093506,1.4299104072845408,-1.4017391706046451,-1.570775781951262,-0.01795348243093633],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.5887498182466924,-1.5992062594093506,1.4299104072845408,-1.4017391706046451,-1.570775781951262,-0.01795348243093633],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.119999999999711,"qpos":[-1.5887397570303812,-1.6038904271528314,1.4761606470069946,-1.4429984025369635,-1.5707773378605998,-0.017951947984110865,0.46118363956031727,0.00029204308611857594,0.4582795498288939,-0.4508478578844085,0.4611835994937684,0.0002903864417359301,0.4582198663774227,-0.45104594502822065,-0.12547077686388455,0.47703691154572647,0.3762594041621474,0.9999998185076783,-0.0005999044539958108,5.3290214692399587e-05,1.610621158183909e-05],"qvel":[-0.00025406463627431495,0.022873165459082932,-0.2340120976138325,0.20788096260789285,-7.2196575577512e-07,-7.66966084274718e-06,0.00011963945621892536,-7.303772613716922e-05,0.00013247804461797848,0.00018986190358266194,0.0001356100291030184,-3.4331110873409826e-05,0.00029975052031293065,0.00012363943995651755,0.00029942772715869264,0.0007233620763016342,0.0819830874297584,0.007449874720489259,0.0003707035632993998,-0.0008970501021854484],"joint_position_rad":[-1.5887397570303812,-1.6038904271528314,1.4761606470069946,-1.4429984025369635,-1.5707773378605998,-0.017951947984110865],"joint_velocity_rad_s":[-0.00025406463627431495,0.022873165459082932,-0.2340120976138325,0.20788096260789285,-7.2196575577512e-07,-7.66966084274718e-06],"linkage_position_rad":[0.46118363956031727,0.00029204308611857594,0.4582795498288939,-0.4508478578844085,0.4611835994937684,0.0002903864417359301,0.4582198663774227,-0.45104594502822065],"tcp_position_m":[-0.1254655158367447,0.4770547252325793,0.3818945101522153],"tcp_quaternion_wxyz":[1.6823310665395178e-05,0.7071037694876636,0.7071097919879816,-3.111311825230447e-05],"object_position_m":[-0.12547077686388455,0.47703691154572647,0.3762594041621474],"object_quaternion_wxyz":[0.9999998185076783,-0.0005999044539958108,5.3290214692399587e-05,1.610621158183909e-05],"object_linear_velocity_m_s":[0.00029942772715869264,0.0007233620763016342,0.0819830874297584],"object_angular_velocity_rad_s":[0.00744976711871837,0.00036986650838025933,-0.0008982883788071343],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632280254041059,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088126729098185,"right":46.088828148808894},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887454405135921,-1.6089150610995406,1.4195189115953406,-1.4065590079609607,-1.5707742471264337,-0.017953485153351205,180.0],"actuator_force":[0.09025888808810123,-19.198534077052045,-19.67863177777508,-2.5683989727878043,0.0016175636586694964,-1.6185358955311813e-06,5.0],"issued_joint_targets_rad":[-1.5887499880041078,-1.598516643003067,1.4248636593202246,-1.3973830035132453,-1.5707756115716531,-0.017953652085052823],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5887499880041078,-1.598516643003067,1.4248636593202246,-1.3973830035132453,-1.5707756115716531,-0.017953652085052823],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.139999999999717,"qpos":[-1.5887399098994754,-1.603372462957246,1.471303822810622,-1.438657847880055,-1.5707771482996755,-0.017952110948418913,0.46118364853645305,0.0002920116002330906,0.45827953367908963,-0.45084766988552083,0.4611836131363858,0.0002904022642294534,0.4582199082927638,-0.4510460564443126,-0.12547077064495227,0.4770387045765007,0.3779538388215825,0.9999998175833437,-0.0006013888568274021,5.394807924065497e-05,1.5947610843067952e-05],"qvel":[-0.00025728031681428404,0.02374768087180785,-0.23496581745247805,0.20795927285324473,-7.574476030814036e-07,-7.703551860747191e-06,0.00012124573383020019,-7.344906459577793e-05,0.00013406680760495062,0.00018935465211090616,0.00013733035458753584,-3.4562347366466536e-05,0.0003026530343545256,0.00012371232338982994,0.00030260808591992466,0.0007346271808701404,0.08196982421311072,0.007451117941826421,0.0003719739192665778,-0.000904290011607469],"joint_position_rad":[-1.5887399098994754,-1.603372462957246,1.471303822810622,-1.438657847880055,-1.5707771482996755,-0.017952110948418913],"joint_velocity_rad_s":[-0.00025728031681428404,0.02374768087180785,-0.23496581745247805,0.20795927285324473,-7.574476030814036e-07,-7.703551860747191e-06],"linkage_position_rad":[0.46118364853645305,0.0002920116002330906,0.45827953367908963,-0.45084766988552083,0.4611836131363858,0.0002904022642294534,0.4582199082927638,-0.4510460564443126],"tcp_position_m":[-0.12546550454850394,0.4770540121292919,0.3835880697711853],"tcp_quaternion_wxyz":[1.734339585858965e-05,0.7071037659051725,0.7071097955278268,-3.178873504322e-05],"object_position_m":[-0.12547077064495227,0.4770387045765007,0.3779538388215825],"object_quaternion_wxyz":[0.9999998175833437,-0.0006013888568274021,5.394807924065497e-05,1.5947610843067952e-05],"object_linear_velocity_m_s":[0.00030260808591992466,0.0007346271808701404,0.08196982421311072],"object_angular_velocity_rad_s":[0.007451008454285029,0.0003711231603150399,-0.0009055408432345139],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463227975077862,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0880960394565,"right":46.088800493959084},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887456097296997,-1.6082311591958678,1.4144773903795655,-1.4022027874334468,-1.5707740761317524,-0.017953654810321514,180.0],"actuator_force":[0.09151246627698129,-19.216464825966796,-19.666537881121712,-2.5683970620204946,0.0016118287219342164,-1.5757652249703824e-06,5.0],"issued_joint_targets_rad":[-1.5887501572266947,-1.5978084559692176,1.4197955625071639,-1.3930240724345262,-1.5707754394896765,-0.017953821206542597],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.5887501572266947,-1.5978084559692176,1.4197955625071639,-1.3930240724345262,-1.5707754394896765,-0.017953821206542597],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.159999999999724,"qpos":[-1.5887400638309122,-1.6028363498175813,1.4664271385973204,-1.4343155648090191,-1.570776960170375,-0.017952274507351478,0.46118365782866766,0.00029198091617558695,0.45827951863795324,-0.45084748754728654,0.4611836269261562,0.0002904169598965057,0.45821994946717093,-0.45104616033708533,-0.12547075770040217,0.4770407966312835,0.37964811840918883,0.9999998166453997,-0.0006028932587130868,5.4582777006920394e-05,1.5798906193623053e-05],"qvel":[-0.0002604948463709516,0.02462435382163903,-0.23592699187123006,0.2080428061632619,-7.765854199270917e-07,-7.731751243093997e-06,0.0001228692089607476,-7.386677939005884e-05,0.00013567249694829852,0.0001888581650823086,0.0001390691287113523,-3.479449390036606e-05,0.0003055871086949342,0.00012377259603592612,0.0003058025746753822,0.0007463677605303153,0.08195643334986778,0.007452422460793772,0.0003733722407766279,-0.000911616116926492],"joint_position_rad":[-1.5887400638309122,-1.6028363498175813,1.4664271385973204,-1.4343155648090191,-1.570776960170375,-0.017952274507351478],"joint_velocity_rad_s":[-0.0002604948463709516,0.02462435382163903,-0.23592699187123006,0.2080428061632619,-7.765854199270917e-07,-7.731751243093997e-06],"linkage_position_rad":[0.46118365782866766,0.00029198091617558695,0.45827951863795324,-0.45084748754728654,0.4611836269261562,0.0002904169598965057,0.45821994946717093,-0.45104616033708533],"tcp_position_m":[-0.1254654869687082,0.47705360111045214,0.3852814535760096],"tcp_quaternion_wxyz":[1.7870016014745855e-05,0.7071037624874723,0.7071097989014261,-3.247009513770159e-05],"object_position_m":[-0.12547075770040217,0.4770407966312835,0.37964811840918883],"object_quaternion_wxyz":[0.9999998166453997,-0.0006028932587130868,5.4582777006920394e-05,1.5798906193623053e-05],"object_linear_velocity_m_s":[0.0003058025746753822,0.0007463677605303153,0.08195643334986778],"object_angular_velocity_rad_s":[0.007452311090656506,0.00037250774309083854,-0.0009128793449199792],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632279237629716,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088065023880034,"right":46.088772505942934},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887457782777643,-1.6075288952906257,1.4094146961142184,-1.3978438022238395,-1.5707739034398047,-0.017953823934771473,180.0],"actuator_force":[0.0927690448438625,-19.234832474744508,-19.654088217711887,-2.568399323736344,0.001606023826980163,-1.5385856890759442e-06,5.0],"issued_joint_targets_rad":[-1.5887503251827633,-1.5970816210477956,1.4147059139631681,-1.3886622520764067,-1.5707752656531269,-0.01795398906504971],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.5887503251827633,-1.5970816210477956,1.4147059139631681,-1.3886622520764067,-1.5707752656531269,-0.01795398906504971],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.179999999999731,"qpos":[-1.5887402184683013,-1.6022820405509588,1.4615304357490715,-1.4299714436822089,-1.5707767731669515,-0.017952438486286644,0.4611836674363175,0.00029195099748687724,0.45827950467276785,-0.4508473106269609,0.4611836408685645,0.00029043056088770433,0.4582199899378253,-0.4510462569242861,-0.1254707381088586,0.47704319811892093,0.3813422419821657,0.999999815694198,-0.0006044169286848248,5.519526007269199e-05,1.5659778658970364e-05],"qvel":[-0.0002637068339706582,0.025503337520854073,-0.23689584350857995,0.20813164129459613,-7.806206155931933e-07,-7.751452202590122e-06,0.0001245102705457167,-7.4290925947179e-05,0.00013729553195549043,0.0001883719360644383,0.00014082676188716136,-3.502767813414987e-05,0.0003085534368117705,0.00012382080476055127,0.0003090118455721559,0.0007586136280060697,0.08194291209060611,0.0074537785130451934,0.000374895015469238,-0.0009190286536908174],"joint_position_rad":[-1.5887402184683013,-1.6022820405509588,1.4615304357490715,-1.4299714436822089,-1.5707767731669515,-0.017952438486286644],"joint_velocity_rad_s":[-0.0002637068339706582,0.025503337520854073,-0.23689584350857995,0.20813164129459613,-7.806206155931933e-07,-7.751452202590122e-06],"linkage_position_rad":[0.4611836674363175,0.00029195099748687724,0.45827950467276785,-0.4508473106269609,0.4611836408685645,0.00029043056088770433,0.4582199899378253,-0.4510462569242861],"tcp_position_m":[-0.1254654631598412,0.47705350247456096,0.38697466028888794],"tcp_quaternion_wxyz":[1.840243850553433e-05,0.7071037591703014,0.7071098021730525,-3.315665930224899e-05],"object_position_m":[-0.1254707381088586,0.47704319811892093,0.3813422419821657],"object_quaternion_wxyz":[0.999999815694198,-0.0006044169286848248,5.519526007269199e-05,1.5659778658970364e-05],"object_linear_velocity_m_s":[0.0003090118455721559,0.0007586136280060697,0.08194291209060611],"object_angular_velocity_rad_s":[0.0074536652627807025,0.0003740167387058602,-0.0009203041291044343],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632278714465983,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08803367392532,"right":46.08874417725118},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887459454226796,-1.6068081928856346,1.404330626171794,-1.3934819270313206,-1.5707737289973749,-0.017953991796344132,180.0],"actuator_force":[0.09402882483163921,-19.253639677693172,-19.641281751123188,-2.5684058040154696,0.0016001468497961469,-1.5098084826803415e-06,5.0],"issued_joint_targets_rad":[-1.588750491080146,-1.5963360560047462,1.409594504104925,-1.3842974154320367,-1.570775090007611,-0.01795415486974473],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.588750491080146,-1.5963360560047462,1.409594504104925,-1.3842974154320367,-1.570775090007611,-0.01795415486974473],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.199999999999737,"qpos":[-1.5887403734052323,-1.6017094846622382,1.4566135508779552,-1.4256253732107516,-1.5707765870077393,-0.017952602651821543,0.46118367735874055,0.0002919218091139711,0.45827949175209387,-0.45084713889118166,0.4611836549688006,0.00029044309770442944,0.45822002974019216,-0.45104634641224545,-0.12547071195393467,0.47704592011799263,0.38303620857051157,0.9999998147300334,-0.0006059592331076146,5.57864352343636e-05,1.5529930387846033e-05],"qvel":[-0.00026691486205958755,0.02638479364943555,-0.23787260472394436,0.20822585730928986,-7.706578924874488e-07,-7.759839418580672e-06,0.00012616932917947632,-7.472157037030927e-05,0.00013893634938534668,0.00018789547798276135,0.00014260368894686236,-3.5262029488118614e-05,0.000311552762735872,0.00012385749076975776,0.0003122365874279077,0.0007713977621000255,0.08192925753569795,0.007455177248831658,0.00037653902217277014,-0.0009265280127695562],"joint_position_rad":[-1.5887403734052323,-1.6017094846622382,1.4566135508779552,-1.4256253732107516,-1.5707765870077393,-0.017952602651821543],"joint_velocity_rad_s":[-0.00026691486205958755,0.02638479364943555,-0.23787260472394436,0.20822585730928986,-7.706578924874488e-07,-7.759839418580672e-06],"linkage_position_rad":[0.46118367735874055,0.0002919218091139711,0.45827949175209387,-0.45084713889118166,0.4611836549688006,0.00029044309770442944,0.45822002974019216,-0.45104634641224545],"tcp_position_m":[-0.12546543319005035,0.4770537271842327,0.3886676885911168],"tcp_quaternion_wxyz":[1.894000518384803e-05,0.7071037558924986,0.7071098054038807,-3.3847948162182296e-05],"object_position_m":[-0.12547071195393467,0.47704592011799263,0.38303620857051157],"object_quaternion_wxyz":[0.9999998147300334,-0.0006059592331076146,5.57864352343636e-05,1.5529930387846033e-05],"object_linear_velocity_m_s":[0.0003122365874279077,0.0007713977621000255,0.08192925753569795],"object_angular_velocity_rad_s":[0.007455062120195351,0.0003756469203557914,-0.0009278155961278832],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632278181155896,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08800198050733,"right":46.08871549969109},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588746110368788,-1.606068970561604,1.3992249712407097,-1.389117034839128,-1.5707735527491398,-0.017954157604209382,180.0],"actuator_force":[0.0952920177123815,-19.272889258505984,-19.628117384913367,-2.5684165451170884,0.00159419508895553,-1.492252060586452e-06,5.0],"issued_joint_targets_rad":[-1.5887506540587772,-1.5955716732028982,1.4044611161779865,-1.3799294337401091,-1.5707749124962929,-0.017954317761927758],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5887506540587772,-1.5955716732028982,1.4044611161779865,-1.3799294337401091,-1.5707749124962929,-0.017954317761927758],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.219999999999744,"qpos":[-1.5887405281823552,-1.6011186281493726,1.4516763156034826,-1.4212772404480138,-1.5707764014326155,-0.017952766710935864,0.46118368759522244,0.0002918933173712922,0.4582794798457027,-0.45084697211567554,0.4611836692317304,0.0002904545992215545,0.4582200689080194,-0.45104642899598985,-0.1254706793250085,0.4770489744503368,0.3847300171762055,0.9999998137531476,-0.0006075196276499921,5.635716601217783e-05,1.5409085016891823e-05],"qvel":[-0.0002701174672999394,0.027268893548970184,-0.23885751884438328,0.20832553371638407,-7.476761071039873e-07,-7.754055903716054e-06,0.0001278468212151673,-7.51587906051563e-05,0.00014059540656997447,0.00018742831854800162,0.0001444003735766061,-3.5497679628056045e-05,0.00031458588841762797,0.00012388319165474064,0.0003154775322911988,0.0007847567723416257,0.0819154666170527,0.007456610649061636,0.0003783013233526896,-0.0009341147554327679],"joint_position_rad":[-1.5887405281823552,-1.6011186281493726,1.4516763156034826,-1.4212772404480138,-1.5707764014326155,-0.017952766710935864],"joint_velocity_rad_s":[-0.0002701174672999394,0.027268893548970184,-0.23885751884438328,0.20832553371638407,-7.476761071039873e-07,-7.754055903716054e-06],"linkage_position_rad":[0.46118368759522244,0.0002918933173712922,0.4582794798457027,-0.45084697211567554,0.4611836692317304,0.0002904545992215545,0.4582200689080194,-0.45104642899598985],"tcp_position_m":[-0.12546539713387547,0.4770542869389256,0.39036053712087276],"tcp_quaternion_wxyz":[1.9482125403501078e-05,0.7071037525952607,0.7071098086527231,-3.454353679027179e-05],"object_position_m":[-0.1254706793250085,0.4770489744503368,0.3847300171762055],"object_quaternion_wxyz":[0.9999998137531487,-0.0006075196276499928,5.635716601217789e-05,1.540908501689184e-05],"object_linear_velocity_m_s":[0.0003154775322911988,0.0007847567723416257,0.0819154666170527],"object_angular_velocity_rad_s":[0.007456493643085364,0.00037739534487017933,-0.0009354143165276517],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632277637564755,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087969933891024,"right":46.08868646437627},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887462722524583,-1.605311141552755,1.3940975148556478,-1.38474899687489,-1.570773374637408,-0.017954320499666925,180.0],"actuator_force":[0.09655884671383319,-19.29258422635303,-19.614593957915986,-2.568431585076496,0.0015881652145708358,-1.4887751582648434e-06,5.0],"issued_joint_targets_rad":[-1.588750813182103,-1.5947883791046071,1.3993055257178904,-1.3755581764447682,-1.5707747330596002,-0.017954476806448672],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.588750813182103,-1.5947883791046071,1.3993055257178904,-1.3755581764447682,-1.5707747330596002,-0.017954476806448672],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.239999999999751,"qpos":[-1.5887406822836982,-1.6005094132807522,1.4467185563006784,-1.41692693077609,-1.5707762162006815,-0.017952930309418733,0.46118369814495497,0.0002918654899078199,0.45827946892450633,-0.4508468100849836,0.46118368366185797,0.0002904650927045399,0.4582201074733182,-0.4510465048592828,-0.12547064031810806,0.4770523737657037,0.38642366677234635,0.9999998127637341,-0.0006090976501837822,5.6908274468688525e-05,1.5296988183148025e-05],"qvel":[-0.00027331311979621143,0.0281558196213184,-0.23985084161118883,0.20843075059944868,-7.12537703959935e-07,-7.731167617664358e-06,0.00012954321054665634,-7.560267752953802e-05,0.00014227318344914623,0.0001869700043555841,0.00014621731039376521,-3.573476344519557e-05,0.0003176536804163852,0.00012389844671283556,0.0003187354628818823,0.0007987314523381429,0.0819015360769135,0.00745807145092287,0.0003801792590064181,-0.0009417896307057838],"joint_position_rad":[-1.5887406822836982,-1.6005094132807522,1.4467185563006784,-1.41692693077609,-1.5707762162006815,-0.017952930309418733],"joint_velocity_rad_s":[-0.00027331311979621143,0.0281558196213184,-0.23985084161118883,0.20843075059944868,-7.12537703959935e-07,-7.731167617664358e-06],"linkage_position_rad":[0.46118369814495497,0.0002918654899078199,0.45827946892450633,-0.4508468100849836,0.46118368366185797,0.0002904650927045399,0.4582201074733182,-0.4510465048592828],"tcp_position_m":[-0.12546535507309056,0.4770551942586701,0.39205320447074016],"tcp_quaternion_wxyz":[2.0028269715174313e-05,0.7071037492214015,0.7071098119767768,-3.5243049843868976e-05],"object_position_m":[-0.12547064031810806,0.4770523737657037,0.38642366677234635],"object_quaternion_wxyz":[0.9999998127637341,-0.0006090976501837822,5.6908274468688525e-05,1.5296988183148025e-05],"object_linear_velocity_m_s":[0.0003187354628818823,0.0007987314523381429,0.0819015360769135],"object_angular_velocity_rad_s":[0.007457952567901127,0.0003792593465938298,-0.0009431010484103038],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632277083554687,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08793752347175,"right":46.088657061507746},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887464301334906,-1.6045346132537157,1.3889480328590535,-1.3803776825705416,-1.5707731946018169,-0.01795447954756653,180.0],"actuator_force":[0.09782954833417534,-19.31272779445453,-19.600710238774354,-2.5684509571706258,0.0015820532028101297,-1.5023121306967369e-06,5.0],"issued_joint_targets_rad":[-1.588750967427076,-1.5939860736912295,1.394127499927723,-1.3711835111553285,-1.5707745516348872,-0.017954630981725648],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.588750967427076,-1.5939860736912295,1.394127499927723,-1.3711835111553285,-1.5707745516348872,-0.017954630981725648],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.259999999999757,"qpos":[-1.5887408351321168,-1.5998817783394794,1.4417400938139364,-1.4125743278895488,-1.5707760310881291,-0.017953093029496225,0.4611837090069778,0.00029183829567862345,0.458279458960475,-0.4508466525921926,0.46118369826326827,0.00029047460381489363,0.4582201454663206,-0.45104657417459815,-0.125470595036928,0.47705613163973454,0.3881171563022623,0.9999998117619362,-0.0006106929145585636,5.7440542814447415e-05,1.5193408235562302e-05],"qvel":[-0.00027650020020187423,0.02904576698195242,-0.24085284287534642,0.20854158872985606,-6.659968007703929e-07,-7.688125039184657e-06,0.00013125899382626088,-7.605333657660223e-05,0.00014397018710628242,0.00018652009738280844,0.00014805503068705028,-3.59734200779554e-05,0.0003207570796748291,0.0001239037986775424,0.00032201122201126753,0.0008133674429017766,0.08188746244299108,0.007459553082473881,0.0003821704437999078,-0.0009495535953685353],"joint_position_rad":[-1.5887408351321168,-1.5998817783394794,1.4417400938139364,-1.4125743278895488,-1.5707760310881291,-0.017953093029496225],"joint_velocity_rad_s":[-0.00027650020020187423,0.02904576698195242,-0.24085284287534642,0.20854158872985606,-6.659968007703929e-07,-7.688125039184657e-06],"linkage_position_rad":[0.4611837090069778,0.00029183829567862345,0.458279458960475,-0.4508466525921926,0.46118369826326827,0.00029047460381489363,0.4582201454663206,-0.45104657417459815],"tcp_position_m":[-0.12546530709767184,0.47705646258094736,0.3937456891849229],"tcp_quaternion_wxyz":[2.0577964182595465e-05,0.7071037457145792,0.7071098154323923,-3.594615720858529e-05],"object_position_m":[-0.125470595036928,0.47705613163973454,0.3881171563022623],"object_quaternion_wxyz":[0.9999998117619362,-0.0006106929145585636,5.7440542814447415e-05,1.5193408235562302e-05],"object_linear_velocity_m_s":[0.00032201122201126753,0.0008133674429017766,0.08188746244299108],"object_angular_velocity_rad_s":[0.007459432321946224,0.0003812365345087294,-0.0009508767574700525],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632276518984722,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08790473775711,"right":46.08862728035139},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588746582985111,-1.6037392866439184,1.383776292779098,-1.3760029595220398,-1.5707730125789892,-0.0179546337263265,180.0],"actuator_force":[0.09910437409234873,-19.333323401658618,-19.586464919538685,-2.5684746892311523,0.0015758542500634576,-1.535911218653041e-06,5.0],"issued_joint_targets_rad":[-1.5887511156724414,-1.593164649780483,1.3889267969534878,-1.3668053036061814,-1.570774368156039,-0.017954779168049877],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5887511156724414,-1.593164649780483,1.3889267969534878,-1.3668053036061814,-1.570774368156039,-0.017954779168049877],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.279999999999764,"qpos":[-1.5887409860837178,-1.5992356573282662,1.436740743130402,-1.4082193137766643,-1.5707758458862777,-0.017953254386573365,0.4611837201801146,0.0002918117049231786,0.4582794499265563,-0.4508464994387232,0.46118371303956274,0.0002904831566073379,0.4582201829154173,-0.45104663710299275,-0.12547054359400733,0.4770602626880019,0.3898104846786028,0.9999998107478595,-0.0006123051051912307,5.79547148150276e-05,1.5098137190943883e-05],"qvel":[-0.0002796769740913555,0.029938945432114814,-0.24186380860448833,0.20865812966467515,-6.087059316953337e-07,-7.621720555690242e-06,0.00013299470513415803,-7.651088956762664e-05,0.00014568695598152117,0.0001860781750001344,0.00014991410763249413,-3.621379410591407e-05,0.00032389711291111456,0.0001238998006377608,0.00032530572411536664,0.000828716032181011,0.08187324199908609,0.007461049606289292,0.00038427276687730386,-0.0009574078375815545],"joint_position_rad":[-1.5887409860837178,-1.5992356573282662,1.436740743130402,-1.4082193137766643,-1.5707758458862777,-0.017953254386573365],"joint_velocity_rad_s":[-0.0002796769740913555,0.029938945432114814,-0.24186380860448833,0.20865812966467515,-6.087059316953337e-07,-7.621720555690242e-06],"linkage_position_rad":[0.4611837201801146,0.0002918117049231786,0.4582794499265563,-0.4508464994387232,0.46118371303956274,0.0002904831566073379,0.4582201829154173,-0.45104663710299275],"tcp_position_m":[-0.12546525330692687,0.4770581063734188,0.395437989756114],"tcp_quaternion_wxyz":[2.1130785250565654e-05,0.7071037420184787,0.7071098190758935,-3.665257009148864e-05],"object_position_m":[-0.12547054359400733,0.4770602626880019,0.3898104846786028],"object_quaternion_wxyz":[0.9999998107478595,-0.0006123051051912307,5.79547148150276e-05,1.5098137190943883e-05],"object_linear_velocity_m_s":[0.00032530572411536664,0.000828716032181011,0.08187324199908609],"object_angular_velocity_rad_s":[0.0074609269670183175,0.0003833247920272346,-0.0009587426406350005],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632275943710946,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087871564125116,"right":46.08859710899482},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887467296822537,-1.6029250556106787,1.3785820531054715,-1.3716246934492557,-1.5707728285021316,-0.017954781916238397,180.0],"actuator_force":[0.10038359256486729,-19.354374737670696,-19.5718566080659,-2.5685028027631915,0.0015695626661909046,-1.5927769450030382e-06,5.0],"issued_joint_targets_rad":[-1.5887512566849422,-1.5923239922173404,1.3837031650333065,-1.3624234176173176,-1.5707741825530042,-0.01795492013381685],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5887512566849422,-1.5923239922173404,1.3837031650333065,-1.3624234176173176,-1.5707741825530042,-0.01795492013381685],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.299999999999771,"qpos":[-1.5887411344210791,-1.5985709796269858,1.4317203130050384,-1.4038617686983708,-1.5707756603997551,-0.017953413824978372,0.4611837316628819,0.00029178568915192235,0.45827944179657487,-0.450846350434114,0.46118372799376595,0.0002904907735121479,0.4582202198470557,-0.45104669379387446,-0.1254704861121061,0.47706478269955244,0.3915036507824389,0.999999809721567,-0.000613933972446679,5.845149696985817e-05,1.5010992023620832e-05],"qvel":[-0.0002828415628562011,0.030835581832966866,-0.24288404328273364,0.2087804558277744,-5.41221378059711e-07,-7.528540420931213e-06,0.00013475092190951216,-7.697547720123389e-05,0.00014742406488866123,0.00018564383029793437,0.00015179516289268386,-3.6456037091287776e-05,0.0003270749061854912,0.0001238870215742373,0.0003286199696017598,0.00084483512818306,0.08185887075014524,0.007462555671709772,0.00038648439498920403,-0.0009653538050913395],"joint_position_rad":[-1.5887411344210791,-1.5985709796269858,1.4317203130050384,-1.4038617686983708,-1.5707756603997551,-0.017953413824978372],"joint_velocity_rad_s":[-0.0002828415628562011,0.030835581832966866,-0.24288404328273364,0.2087804558277744,-5.41221378059711e-07,-7.528540420931213e-06],"linkage_position_rad":[0.4611837316628819,0.00029178568915192235,0.45827944179657487,-0.450846350434114,0.46118372799376595,0.0002904907735121479,0.4582202198470557,-0.45104669379387446],"tcp_position_m":[-0.1254651938108138,0.47706014126588586,0.39713010462192966],"tcp_quaternion_wxyz":[2.1686355120217594e-05,0.7071037380759159,0.7071098229644716,-3.736203753763806e-05],"object_position_m":[-0.1254704861121061,0.47706478269955244,0.3915036507824389],"object_quaternion_wxyz":[0.999999809721567,-0.000613933972446679,5.845149696985817e-05,1.5010992023620832e-05],"object_linear_velocity_m_s":[0.0003286199696017598,0.00084483512818306,0.08185887075014524],"object_angular_velocity_rad_s":[0.007462431151653885,0.0003855222801020255,-0.000966700154294396],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322753575867306,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08783798867842,"right":46.08856653419558},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887468689877653,-1.602091806146765,1.3733650624390408,-1.3672427481564675,-1.5707726423005604,-0.017954922885698298,180.0],"actuator_force":[0.1016674917700584,-19.375885772745278,-19.55688381890195,-2.5685353118258263,0.001563171735256219,-1.6763178702916548e-06,5.0],"issued_joint_targets_rad":[-1.5887513891029783,-1.591463976906836,1.3784563414894189,-1.3580377150561633,-1.5707739947512356,-0.017955052519207905],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5887513891029783,-1.591463976906836,1.3784563414894189,-1.3580377150561633,-1.5707739947512356,-0.017955052519207905],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.319999999999777,"qpos":[-1.588741279345012,-1.5978876695927926,1.4266786055273855,-1.3995015711651941,-1.5707754744448015,-0.017953570712562764,0.4611837434533797,0.00029176022114243847,0.458279434545122,-0.4508462053958764,0.46118374312821014,0.00029049747530185795,0.4582202562856015,-0.4510467443846199,-0.12547042272582476,0.47706970879431587,0.39319665346240623,0.9999998086830827,-0.000615579328777401,5.893155944917954e-05,1.4931816357039509e-05],"qvel":[-0.00028599191018874423,0.03173592299092384,-0.2439138728097348,0.2089086505713046,-4.6400708504431507e-07,-7.404909615042667e-06,0.0001365282723170517,-7.74472618554241e-05,0.00014918213188469897,0.00018521667096240294,0.00015369887487322477,-3.67003094081442e-05,0.000330291702792303,0.0001238660548085019,0.00033195506316597916,0.0008617904502638896,0.08184434438024486,0.007464066476426338,0.00038880377965009,-0.0009733932395738137],"joint_position_rad":[-1.588741279345012,-1.5978876695927926,1.4266786055273855,-1.3995015711651941,-1.5707754744448015,-0.017953570712562764],"joint_velocity_rad_s":[-0.00028599191018874423,0.03173592299092384,-0.2439138728097348,0.2089086505713046,-4.6400708504431507e-07,-7.404909615042667e-06],"linkage_position_rad":[0.4611837434533797,0.00029176022114243847,0.458279434545122,-0.4508462053958764,0.46118374312821014,0.00029049747530185795,0.4582202562856015,-0.4510467443846199],"tcp_position_m":[-0.1254651287314972,0.47706258420577413,0.3988220321608611],"tcp_quaternion_wxyz":[2.2244337565615067e-05,0.7071037338278373,0.7071098271571853,-3.807434331306905e-05],"object_position_m":[-0.12547042272582476,0.47706970879431587,0.39319665346240623],"object_quaternion_wxyz":[0.9999998086830827,-0.000615579328777401,5.893155944917954e-05,1.4931816357039509e-05],"object_linear_velocity_m_s":[0.00033195506316597916,0.0008617904502638896,0.08184434438024486],"object_angular_velocity_rad_s":[0.007463940072706401,0.0003878274443623523,-0.0009747510486665784],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632274760463128,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08780399595159,"right":46.08853554108355},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887469995360615,-1.6012394153910485,1.3681250584843392,-1.36285698549415,-1.570772453899137,-0.01795505527488833,180.0],"actuator_force":[0.10295638197658263,-19.397860792881602,-19.541544962198714,-2.568572221608406,0.0015566735406764565,-1.7902012761084052e-06,5.0],"issued_joint_targets_rad":[-1.5887515114171173,-1.5905844696472529,1.3731860515221939,-1.3536480558015662,-1.5707738046710125,-0.017955174816739503],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5887515114171173,-1.5905844696472529,1.3731860515221939,-1.3536480558015662,-1.5707738046710125,-0.017955174816739503],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.339999999999784,"qpos":[-1.5887414199645526,-1.597185646089848,1.4216154156172496,-1.3951385979124542,-1.5707752878476704,-0.017953724333969363,0.4611837555491413,0.00029173527494732646,0.45827942814741696,-0.45084606414934714,0.4611837584443754,0.000290503281037571,0.45822029225313615,-0.4510467890000137,-0.12547035358353076,0.4770750596099713,0.3948894915339438,0.9999998076323955,-0.0006172410456255914,5.9395536752581404e-05,1.4860482705342328e-05],"qvel":[-0.0002891257430275293,0.03264023919914975,-0.24495364804045422,0.20904279821395821,-3.774369919517485e-07,-7.246827614070356e-06,0.00013832744529424337,-7.79264314454811e-05,0.00015096182676977967,0.00018479631944066835,0.0001556259898297924,-3.694678275668156e-05,0.0003335488847601494,0.00012383752643208823,0.00033531223668846466,0.0008796570015264601,0.08182965820173736,0.007465577737771263,0.00039122966875293524,-0.0009815282182619324],"joint_position_rad":[-1.5887414199645526,-1.597185646089848,1.4216154156172496,-1.3951385979124542,-1.5707752878476704,-0.017953724333969363],"joint_velocity_rad_s":[-0.0002891257430275293,0.03264023919914975,-0.24495364804045422,0.20904279821395821,-3.774369919517485e-07,-7.246827614070356e-06],"linkage_position_rad":[0.4611837555491413,0.00029173527494732646,0.45827942814741696,-0.45084606414934714,0.4611837584443754,0.000290503281037571,0.45822029225313615,-0.4510467890000137],"tcp_position_m":[-0.12546505820520393,0.47706545364263103,0.40051377068762095],"tcp_quaternion_wxyz":[2.2804434151908252e-05,0.7071037292121604,0.7071098317161225,-3.878930313609945e-05],"object_position_m":[-0.12547035358353076,0.4770750596099713,0.3948894915339438],"object_quaternion_wxyz":[0.9999998076323955,-0.0006172410456255914,5.9395536752581404e-05,1.4860482705342328e-05],"object_linear_velocity_m_s":[0.00033531223668846466,0.0008796570015264601,0.08182965820173736],"object_angular_velocity_rad_s":[0.007465449446629982,0.0003902390267051096,-0.0009828974094539134],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632274152189552,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08776956864051,"right":46.0885041128813},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887471198136376,-1.6003677504709584,1.3628617668441139,-1.3584672653228964,-1.5707722632175865,-0.017955177576325924,180.0],"actuator_force":[0.10425059904173395,-19.42030444188049,-19.525838330089755,-2.5686135266167867,0.0015500587411452216,-1.938416874125437e-06,5.0],"issued_joint_targets_rad":[-1.5887516219466942,-1.5896853247084972,1.367892006752092,-1.349254297711235,-1.5707736122266132,-0.017955285347895],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5887516219466942,-1.5896853247084972,1.367892006752092,-1.349254297711235,-1.5707736122266132,-0.017955285347895],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.359999999999791,"qpos":[-1.5887415552847775,-1.5964648219318913,1.4165305304327576,-1.390772723874074,-1.570775100443107,-0.017953873882324237,0.46118376794694615,0.00029171082591884345,0.4582794225791452,-0.45084592652763844,0.4611837739426876,0.000290508207988935,0.45822032776918864,-0.45104682775145305,-0.12547027884966847,0.47708085552551205,0.3965821637787106,0.9999998065694576,-0.0006189190510978943,5.9844028038067844e-05,1.4796895421858524e-05],"qvel":[-0.00029224052544067364,0.03354882862997937,-0.24600374915514223,0.20918298405003719,-2.8179558535585534e-07,-7.0498923367134145e-06,0.00014014920173508426,-7.841320401073419e-05,0.00015276388121958384,0.00018438241156196964,0.00015757733446683495,-3.719564293126086e-05,0.0003368480009595959,0.00012380211042751333,0.00033869287945668795,0.0008985209055132954,0.08181480709305428,0.00746708567507787,0.00039376112467591197,-0.0009897612058823303],"joint_position_rad":[-1.5887415552847775,-1.5964648219318913,1.4165305304327576,-1.390772723874074,-1.570775100443107,-0.017953873882324237],"joint_velocity_rad_s":[-0.00029224052544067364,0.03354882862997937,-0.24600374915514223,0.20918298405003719,-2.8179558535585534e-07,-7.0498923367134145e-06],"linkage_position_rad":[0.46118376794694615,0.00029171082591884345,0.4582794225791452,-0.45084592652763844,0.4611837739426876,0.000290508207988935,0.45822032776918864,-0.45104682775145305],"tcp_position_m":[-0.12546498238444073,0.4770687697487529,0.4022053184477784],"tcp_quaternion_wxyz":[2.3366380798326773e-05,0.7071037241624031,0.707109836707769,-3.9506762208576214e-05],"object_position_m":[-0.12547027884966847,0.47708085552551205,0.3965821637787106],"object_quaternion_wxyz":[0.9999998065694576,-0.0006189190510978943,5.9844028038067844e-05,1.4796895421858524e-05],"object_linear_velocity_m_s":[0.00033869287945668795,0.0008985209055132954,0.08181480709305428],"object_angular_velocity_rad_s":[0.007466955491830189,0.00039275608337398043,-0.0009911417098117546],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632273532614664,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087734687177345,"right":46.08847223046782},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887472281356687,-1.5994766670918916,1.3575748995618724,-1.3540734454807706,-1.570772070169664,-0.01795528811149559,180.0],"actuator_force":[0.10555050839366231,-19.443221771992285,-19.50976207971371,-2.56865920835196,0.0015433162800491118,-2.1253520046116137e-06,5.0],"issued_joint_targets_rad":[-1.5887517188115023,-1.5887663830813135,1.3625739034367552,-1.34485629659436,-1.5707734173252863,-0.01795538223486558],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.5887517188115023,-1.5887663830813135,1.3625739034367552,-1.34485629659436,-1.5707734173252863,-0.01795538223486558],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.379999999999797,"qpos":[-1.5887416841918893,-1.5957251032156972,1.4114237286691205,-1.3864038221554127,-1.5707749120728787,-0.017954018449039353,0.4611837806425594,0.00029168685075421245,0.4582794178162457,-0.4508457923716078,0.46118378962223683,0.0002905122715199666,0.4582203628503561,-0.4510468607358336,-0.1254701987075582,0.4770871189309957,0.39827466894429864,0.9999998054941863,-0.0006206133284489553,6.0277597059976355e-05,1.4740994581367437e-05],"qvel":[-0.00029533340366286827,0.03446202284375939,-0.24706459111806792,0.20932929432118516,-1.7727633123366835e-07,-6.809208934288833e-06,0.00014199439029294905,-7.89078340448505e-05,0.0001545891025676432,0.00018397459686267164,0.00015955383351809712,-3.744709417978379e-05,0.0003401908025718313,0.0001237605429682052,0.00034209857706395623,0.0009184817209835355,0.08179978542192125,0.0074685870054857,0.0003963975490616406,-0.0009980951194201908],"joint_position_rad":[-1.5887416841918893,-1.5957251032156972,1.4114237286691205,-1.3864038221554127,-1.5707749120728787,-0.017954018449039353],"joint_velocity_rad_s":[-0.00029533340366286827,0.03446202284375939,-0.24706459111806792,0.20932929432118516,-1.7727633123366835e-07,-6.809208934288833e-06],"linkage_position_rad":[0.4611837806425594,0.00029168685075421245,0.4582794178162457,-0.4508457923716078,0.46118378962223683,0.0002905122715199666,0.4582203628503561,-0.4510468607358336],"tcp_position_m":[-0.12546490144068356,0.4770725546852397,0.4038966736115238],"tcp_quaternion_wxyz":[2.39299446375934e-05,0.7071037186060163,0.7071098422046758,-4.022659301787648e-05],"object_position_m":[-0.1254701987075582,0.4770871189309957,0.39827466894429864],"object_quaternion_wxyz":[0.9999998054941863,-0.0006206133284489553,6.0277597059976355e-05,1.4740994581367437e-05],"object_linear_velocity_m_s":[0.00034209857706395623,0.0009184817209835355,0.08179978542192125],"object_angular_velocity_rad_s":[0.007468454924458221,0.00039537800970698483,-0.0009994868751505282],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632272901587743,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08769932921838,"right":46.0884398718511},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588747322617701,-1.5985660077996782,1.352264153339625,-1.3496753817558116,-1.5707718746621224,-0.017955385002589835,180.0],"actuator_force":[0.10685650984169115,-19.466618305465545,-19.493314211763845,-2.5687092323179286,0.0015364330112106472,-2.355881813187466e-06,5.0],"issued_joint_targets_rad":[-1.5887517998972818,-1.5878274702957529,1.3572314202638631,-1.3404539061919303,-1.5707732198659612,-0.017955463366091214],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.5887517998972818,-1.5878274702957529,1.3572314202638631,-1.3404539061919303,-1.5707732198659612,-0.017955463366091214],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.399999999999804,"qpos":[-1.5887418054348514,-1.5949663885162955,1.4062947797193792,-1.3820317640056672,-1.5707747225843178,-0.017954157011319055,0.4611837936303913,0.0002916633275690868,0.45827941383464077,-0.4508456615299346,0.4611838054804059,0.00029051548492971225,0.45822039750978905,-0.45104688803402826,-0.12547011336282266,0.4770938745560738,0.39996700574443056,0.9999998044064654,-0.0006223239154382654,6.069677160676046e-05,1.4692761128224198e-05],"qvel":[-0.0002984011398936883,0.035380193781128,-0.2481366305819907,0.20948181613866929,-6.39775411982815e-08,-6.519278869166262e-06,0.00014386396683266556,-7.941062038755445e-05,0.0001564383908580017,0.00018357253768735507,0.00016155653156484171,-3.770136375646529e-05,0.00034357928973515476,0.00012371364712501494,0.0003455311633572899,0.0009396553922843472,0.0817845869495955,0.007470078956229195,0.00039913871825243897,-0.0010065334103534645],"joint_position_rad":[-1.5887418054348514,-1.5949663885162955,1.4062947797193792,-1.3820317640056672,-1.5707747225843178,-0.017954157011319055],"joint_velocity_rad_s":[-0.0002984011398936883,0.035380193781128,-0.2481366305819907,0.20948181613866929,-6.39775411982815e-08,-6.519278869166262e-06],"linkage_position_rad":[0.4611837936303913,0.0002916633275690868,0.45827941383464077,-0.4508456615299346,0.4611838054804059,0.00029051548492971225,0.45822039750978905,-0.45104688803402826],"tcp_position_m":[-0.12546481556766623,0.4770768329258341,0.4055878342663706],"tcp_quaternion_wxyz":[2.44949211046118e-05,0.7071037124623081,0.7071098482875375,-4.0948693366479556e-05],"object_position_m":[-0.12547011336282266,0.4770938745560738,0.39996700574443056],"object_quaternion_wxyz":[0.9999998044064654,-0.0006223239154382654,6.069677160676046e-05,1.4692761128224198e-05],"object_linear_velocity_m_s":[0.0003455311633572899,0.0009396553922843472,0.0817845869495955],"object_angular_velocity_rad_s":[0.0074699449706858235,0.0003981045755345866,-0.0010079363654161115],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632272258960802,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08766346892621,"right":46.08840701143174},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887474011411435,-1.5976355998150984,1.3469292073314745,-1.345272927866198,-1.570771676593419,-0.01795546613805009,180.0],"actuator_force":[0.10816904337298183,-19.490500110057383,-19.476492543013137,-2.5687635441323664,0.0015293932034410318,-2.6354785997995123e-06,5.0],"issued_joint_targets_rad":[-1.588751862813276,-1.5868683936678774,1.3518642155819351,-1.3360469781683433,-1.5707730197376049,-0.01795552635388633],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.588751862813276,-1.5868683936678774,1.3518642155819351,-1.3360469781683433,-1.5707730197376049,-0.01795552635388633],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.419999999999811,"qpos":[-1.5887419176025994,-1.5941885679047934,1.4011434426585034,-1.3776564187905453,-1.5707745318288604,-0.01795428841683984,0.46118380690302735,0.00029164023601047057,0.4582794106098764,-0.4508455338592855,0.46118382151235787,0.00029051785923159073,0.458220431756474,-0.4510469097087862,-0.12547002304763494,0.4771011498742513,0.4016591728599185,0.9999998033061414,-0.0006240509046773092,6.110204229971973e-05,1.4652223739974e-05],"qvel":[-0.0003014400317824792,0.03630376275438771,-0.24922037473986386,0.20964063733858138,5.810508992977462e-08,-6.173863299139452e-06,0.00014575902037269273,-7.992191671122746e-05,0.00015831276190276757,0.00018317590904944707,0.00016358662199854058,-3.795870943664184e-05,0.00034701577259310565,0.00012366236162699633,0.00034899279021885667,0.00096217805689543,0.08176920470999444,0.0074715592986839335,0.00040198483066762413,-0.0010150801699139523],"joint_position_rad":[-1.5887419176025994,-1.5941885679047934,1.4011434426585034,-1.3776564187905453,-1.5707745318288604,-0.01795428841683984],"joint_velocity_rad_s":[-0.0003014400317824792,0.03630376275438771,-0.24922037473986386,0.20964063733858138,5.810508992977462e-08,-6.173863299139452e-06],"linkage_position_rad":[0.46118380690302735,0.00029164023601047057,0.4582794106098764,-0.4508455338592855,0.46118382151235787,0.00029051785923159073,0.458220431756474,-0.4510469097087862],"tcp_position_m":[-0.1254647249854347,0.47708163165513656,0.40727879840854275],"tcp_quaternion_wxyz":[2.5061131192593464e-05,0.7071037056398014,0.7071098550478293,-4.16729845787359e-05],"object_position_m":[-0.12547002304763494,0.4771011498742513,0.4016591728599185],"object_quaternion_wxyz":[0.9999998033061414,-0.0006240509046773092,6.110204229971973e-05,1.4652223739974e-05],"object_linear_velocity_m_s":[0.00034899279021885667,0.00096217805689543,0.08176920470999444],"object_angular_velocity_rad_s":[0.007471423400733953,0.00040093597251353275,-0.0010164942804066926],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632271604591496,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087627076128875,"right":46.08837361913039},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887474613108308,-1.5966852523002304,1.341569720375259,-1.34086593545166,-1.5707714758520677,-0.017955529130192393,180.0],"actuator_force":[0.10948859625023033,-19.514873892628657,-19.459294670543386,-2.5688220644154853,0.0015221778872955838,-2.9703463617636316e-06,5.0],"issued_joint_targets_rad":[-1.5887519048395782,-1.5858889387754505,1.3464719238745224,-1.3316353621195907,-1.570772816817099,-0.01795556848187155],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5887519048395782,-1.5858889387754505,1.3464719238745224,-1.3316353621195907,-1.570772816817099,-0.01795556848187155],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.439999999999817,"qpos":[-1.588742019095472,-1.5933915217353072,1.3959694649980992,-1.3732776539661802,-1.5707743396605147,-0.017954411364908104,0.46118382045057443,0.00029161755742343557,0.45827940811662715,-0.4508454092246196,0.4611838377103214,0.0002905194028489674,0.45822046559423435,-0.4510469258018406,-0.1254699280260469,0.47710897560605786,0.4033511689408257,0.9999998021930248,-0.000625794445109881,6.149386054319135e-05,1.461946806078618e-05],"qvel":[-0.00030444581375991,0.037233212175453646,-0.25031639284083224,0.20980584624375617,1.890903259238216e-07,-5.765812774527007e-06,0.0001476808077835095,-8.044214593424429e-05,0.00016021337754536228,0.00018278439683103032,0.0001656454859267542,-3.821942851871565e-05,0.00035050295382746085,0.00012360778395927258,0.0003524860230298044,0.0009862110274034737,0.08175363085541887,0.007473026412772745,0.0004049365725641587,-0.0010237402660261804],"joint_position_rad":[-1.588742019095472,-1.5933915217353072,1.3959694649980992,-1.3732776539661802,-1.5707743396605147,-0.017954411364908104],"joint_velocity_rad_s":[-0.00030444581375991,0.037233212175453646,-0.25031639284083224,0.20980584624375617,1.890903259238216e-07,-5.765812774527007e-06],"linkage_position_rad":[0.46118382045057443,0.00029161755742343557,0.45827940811662715,-0.4508454092246196,0.4611838377103214,0.0002905194028489674,0.45822046559423435,-0.4510469258018406],"tcp_position_m":[-0.1254646299454293,0.4770869812638873,0.40896956393272554],"tcp_quaternion_wxyz":[2.56284187710824e-05,0.7071036980327984,0.7071098625912488,-4.2399409820013623e-05],"object_position_m":[-0.1254699280260469,0.47710897560605786,0.4033511689408257],"object_quaternion_wxyz":[0.9999998021930248,-0.000625794445109881,6.149386054319135e-05,1.461946806078618e-05],"object_linear_velocity_m_s":[0.0003524860230298044,0.0009862110274034737,0.08175363085541887],"object_angular_velocity_rad_s":[0.0074728885932562805,0.0004038728798359027,-0.0010251654967836363],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632270938347727,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087590115025456,"right":46.08833965906004},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887475004023768,-1.5957147528584532,1.336185327467726,-1.3364542540814044,-1.5707712723145133,-0.017955571262639105,180.0],"actuator_force":[0.11081571169415838,-19.53974711647379,-19.441717924413297,-2.568884681987697,0.001514763968089028,-3.3675880466432773e-06,5.0],"issued_joint_targets_rad":[-1.588751922861175,-1.5848888648756247,1.3410541511978133,-1.3272189056058532,-1.5707726109664462,-0.017955586639125127],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.588751922861175,-1.5848888648756247,1.3410541511978133,-1.3272189056058532,-1.5707726109664462,-0.017955586639125127],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.459999999999824,"qpos":[-1.5887421080889967,-1.5925751191266875,1.3907725811384224,-1.3688953350556405,-1.5707741459342202,-0.017954524383175307,0.4611838342597413,0.00029159527509679925,0.45827940632800795,-0.4508452874996751,0.4611838540625862,0.00029052012119214866,0.45822049902031337,-0.45104693632988263,-0.12546982860077682,0.47711738635338174,0.40504299261051535,0.9999998010668881,-0.0006275547448722623,6.187263531019128e-05,1.4594649286544322e-05],"qvel":[-0.0003074135351914714,0.03816910109582817,-0.25142533141589696,0.20997753129319172,3.2922927528611683e-07,-5.286852313622461e-06,0.00014963080071453972,-8.097181927660144e-05,0.00016214158758629535,0.0001823976979420964,0.00016773474474450343,-3.848387105180153e-05,0.00035404403993516637,0.0001235512287776386,0.0003560139734682251,0.0010119474110639186,0.08173785645688937,0.007474479394194705,0.00040799520768426277,-0.0010325195236143482],"joint_position_rad":[-1.5887421080889967,-1.5925751191266875,1.3907725811384224,-1.3688953350556405,-1.5707741459342202,-0.017954524383175307],"joint_velocity_rad_s":[-0.0003074135351914714,0.03816910109582817,-0.25142533141589696,0.20997753129319172,3.2922927528611683e-07,-5.286852313622461e-06],"linkage_position_rad":[0.4611838342597413,0.00029159527509679925,0.45827940632800795,-0.4508452874996751,0.4611838540625862,0.00029052012119214866,0.45822049902031337,-0.45104693632988263],"tcp_position_m":[-0.12546453073691596,0.47709291597283326,0.4106601286197652],"tcp_quaternion_wxyz":[2.6196647839516317e-05,0.7071036895168056,0.7071098710422853,-4.3127932428474935e-05],"object_position_m":[-0.12546982860077682,0.47711738635338174,0.40504299261051535],"object_quaternion_wxyz":[0.9999998010668881,-0.0006275547448722623,6.187263531019128e-05,1.4594649286544322e-05],"object_linear_velocity_m_s":[0.0003560139734682251,0.0010119474110639186,0.08173785645688937],"object_angular_velocity_rad_s":[0.007474339642538473,0.0004069165538158581,-0.0010339558484712408],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632270260114267,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08755254250868,"right":46.08830508779047},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887475152962331,-1.5947238629826117,1.3307756352033133,-1.3320377312863634,-1.570771065842333,-0.01795558942447032,180.0],"actuator_force":[0.11215099960372754,-19.565128150180044,-19.423759303858787,-2.5689512446806475,0.0015071230160401683,-3.835416144681858e-06,5.0],"issued_joint_targets_rad":[-1.588751913284487,-1.5838678988421042,1.3356104691697959,-1.3227974542204395,-1.570772402029034,-0.01795557723685961],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.588751913284487,-1.5838678988421042,1.3356104691697959,-1.3227974542204395,-1.570772402029034,-0.01795557723685961],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.479999999999831,"qpos":[-1.5887421824873553,-1.5917392160337438,1.385552510413854,-1.364509325629958,-1.5707739505040053,-0.017954625798681335,0.4611838483125176,0.00029157337462348246,0.45827940521459043,-0.450845168567718,0.4611838705520597,0.00029052001606626307,0.45822053202334184,-0.4510469412789159,-0.12546972512199056,0.47712642141072537,0.4067346424726816,0.9999997999274605,-0.0006293320758592113,6.223872829108973e-05,1.4578009556188558e-05],"qvel":[-0.00031033740899523383,0.03911208616174685,-0.2525479347715913,0.21015578047858624,4.789318147005025e-07,-4.72730688758276e-06,0.00015161075001215012,-8.15115634467285e-05,0.00016409898617712838,0.000182015517842165,0.00016985633239444177,-3.875245806606165e-05,0.0003576428973740237,0.00012349431466508726,0.0003595804883093888,0.001039621058249115,0.0817218712421086,0.0074759182259734065,0.0004111627011119889,-0.0010414249661989297],"joint_position_rad":[-1.5887421824873553,-1.5917392160337438,1.385552510413854,-1.364509325629958,-1.5707739505040053,-0.017954625798681335],"joint_velocity_rad_s":[-0.00031033740899523383,0.03911208616174685,-0.2525479347715913,0.21015578047858624,4.789318147005025e-07,-4.72730688758276e-06],"linkage_position_rad":[0.4611838483125176,0.00029157337462348246,0.45827940521459043,-0.450845168567718,0.4611838705520597,0.00029052001606626307,0.45822053202334184,-0.4510469412789159],"tcp_position_m":[-0.12546442769526742,0.47709947462985536,0.41235049012175473],"tcp_quaternion_wxyz":[2.6765699511575446e-05,0.7071036799423218,0.7071098805504361,-4.3858534113400744e-05],"object_position_m":[-0.12546972512199056,0.47712642141072537,0.4067346424726816],"object_quaternion_wxyz":[0.9999997999274605,-0.0006293320758592113,6.223872829108973e-05,1.4578009556188558e-05],"object_linear_velocity_m_s":[0.0003595804883093888,0.001039621058249115,0.0817218712421086],"object_angular_velocity_rad_s":[0.007475776530006694,0.0004100689516739174,-0.0010428723683767332],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322695698030804,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08751430579006,"right":46.08826985190007},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887475023942497,-1.5937123120309316,1.3253402157647525,-1.3276162126276705,-1.5707708562784972,-0.017955580026900533,180.0],"actuator_force":[0.11349514980929598,-19.591026459074328,-19.405415389566315,-2.5690215467147937,0.001499219572679067,-4.383420840525787e-06,5.0],"issued_joint_targets_rad":[-1.5887518719306575,-1.5828257269844328,1.3301404068902813,-1.3183708517135992,-1.5707721898245361,-0.017955536101889668],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5887518719306575,-1.5828257269844328,1.3301404068902813,-1.3183708517135992,-1.5707721898245361,-0.017955536101889668],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.4999999999998375,"qpos":[-1.5887422398626532,-1.5908836527555532,1.38030895458143,-1.3601194872965112,-1.5707737532208303,-0.01795471370157261,0.4611838625842194,0.0002915518444334856,0.45827940474294276,-0.45084505232263555,0.4611838871541358,0.00029051908482980766,0.45822056458034977,-0.4510469405961316,-0.1254696179988759,0.47713612581974063,0.4084261171231464,0.9999997987744251,-0.0006311267805027789,6.259244669733402e-05,1.4569902415428046e-05],"qvel":[-0.00031321062296719017,0.04006295043339652,-0.25368507313182936,0.21034068049344873,6.388054573354185e-07,-4.07574671730222e-06,0.0001536227771581019,-8.206215873645326e-05,0.0001660874933702094,0.00018163756894049626,0.00017201259805333424,-3.902570865790001e-05,0.00036130427211572677,0.0001234390900137326,0.0003631904233806549,0.0010695188970595395,0.08170566324594614,0.007477344048217971,0.00041444189361773773,-0.001050465145221049],"joint_position_rad":[-1.5887422398626532,-1.5908836527555532,1.38030895458143,-1.3601194872965112,-1.5707737532208303,-0.01795471370157261],"joint_velocity_rad_s":[-0.00031321062296719017,0.04006295043339652,-0.25368507313182936,0.21034068049344873,6.388054573354185e-07,-4.07574671730222e-06],"linkage_position_rad":[0.4611838625842194,0.0002915518444334856,0.45827940474294276,-0.45084505232263555,0.4611838871541358,0.00029051908482980766,0.45822056458034977,-0.4510469405961316],"tcp_position_m":[-0.12546432121279863,0.4771067017450547,0.4140406459438001],"tcp_quaternion_wxyz":[2.733546841065011e-05,0.7071036691261935,0.707109891298849,-4.4591212765155185e-05],"object_position_m":[-0.1254696179988759,0.47713612581974063,0.4084261171231464],"object_quaternion_wxyz":[0.9999997987744251,-0.0006311267805027789,6.259244669733402e-05,1.4569902415428046e-05],"object_linear_velocity_m_s":[0.0003631904233806549,0.0010695188970595395,0.08170566324594614],"object_angular_velocity_rad_s":[0.007477200393934425,0.00041333290579634644,-0.0010519236178845451],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322688673690125,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087475338924214,"right":46.088233884386185},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887474575129943,-1.592679789096382,1.3198785988449204,-1.3231895418198418,-1.5707706434422664,-0.017955538896746406,180.0],"actuator_force":[0.11484894850445926,-19.617452855015927,-19.38668222028764,-2.569095311010301,0.0014910087361386104,-5.0229151700165175e-06,5.0],"issued_joint_targets_rad":[-1.5887517938976592,-1.5817619837609742,1.3246434398299811,-1.3139389402008306,-1.5707719741417834,-0.017955458338971633],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5887517938976592,-1.5817619837609742,1.3246434398299811,-1.3139389402008306,-1.5707719741417834,-0.017955458338971633],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.519999999999844,"qpos":[-1.5887422773741977,-1.5900082506546276,1.3750415945291397,-1.355725679699004,-1.5707735539299537,-0.017954785899251494,0.46118387704055863,0.00029153067659493917,0.45827940487343566,-0.45084493867058095,0.4611839038335019,0.00029051731917621883,0.4582205966522958,-0.45104693417809977,-0.12546950771522128,0.47714655176569537,0.41011741516940237,0.9999997976074119,-0.0006329392814783332,6.293403255242797e-05,1.4570827949362384e-05],"qvel":[-0.0003160251048141923,0.0410226439145189,-0.25483778216681446,0.21053231544233755,8.09713154054894e-07,-3.3185237345393952e-06,0.00015566950614614872,-8.262459473793685e-05,0.0001681094720350049,0.00018126356523631888,0.0001742064542656815,-3.930427957268286e-05,0.0003650341108234093,0.0001233882247794895,0.0003668500517866444,0.0011019983169043286,0.08168921833609069,0.007478759585089492,0.0004178367510071561,-0.001059650597925163],"joint_position_rad":[-1.5887422773741977,-1.5900082506546276,1.3750415945291397,-1.355725679699004,-1.5707735539299537,-0.017954785899251494],"joint_velocity_rad_s":[-0.0003160251048141923,0.0410226439145189,-0.25483778216681446,0.21053231544233755,8.09713154054894e-07,-3.3185237345393952e-06],"linkage_position_rad":[0.46118387704055863,0.00029153067659493917,0.45827940487343566,-0.45084493867058095,0.4611839038335019,0.00029051731917621883,0.4582205966522958,-0.45104693417809977],"tcp_position_m":[-0.12546421175323327,0.4771146488598425,0.4157305934214889],"tcp_quaternion_wxyz":[2.7905857958479243e-05,0.707103656839285,0.7071099035166519,-4.5325979463286936e-05],"object_position_m":[-0.12546950771522128,0.47714655176569537,0.41011741516940237],"object_quaternion_wxyz":[0.9999997976074119,-0.0006329392814783332,6.293403255242797e-05,1.4570827949362384e-05],"object_linear_velocity_m_s":[0.0003668500517866444,0.0011019983169043286,0.08168921833609069],"object_angular_velocity_rad_s":[0.007478613956333349,0.00041671237298584286,-0.001061120144978842],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322681528347245,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.087435557788694,"right":46.08819709948153},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887473757459063,-1.59162593178556,1.3143902605383035,-1.318757560938204,-1.5707704271220577,-0.017955461138766306,180.0],"actuator_force":[0.11621329850868278,-19.644419827672664,-19.367555114946754,-2.5691721638337413,0.0014824326325424408,-5.767383951749139e-06,5.0],"issued_joint_targets_rad":[-1.5887516733803033,-1.5806762358034565,1.3191189741505696,-1.30950156050455,-1.570771754728552,-0.017955338151115486],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5887516733803033,-1.5806762358034565,1.3191189741505696,-1.30950156050455,-1.570771754728552,-0.017955338151115486],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.539999999999851,"qpos":[-1.588742291658913,-1.589112807741605,1.3697500858628693,-1.35132776053559,-1.570773352467548,-0.0179548398578986,0.4611838916330782,0.00029150986804402323,0.45827940555680247,-0.4508448275323784,0.46118392053917784,0.0002905147033287975,0.4582206281771615,-0.45104692185301953,-0.1254693948508975,0.4771577604667854,0.41180853526301464,0.9999997964259881,-0.0006347700954365224,6.326364661281603e-05,1.458148449321644e-05],"qvel":[-0.00031877123212719765,0.04199234202806306,-0.25600731997114434,0.21073076485624667,9.928605406737712e-07,-2.439159641404639e-06,0.00015775425803791677,-8.320015360086758e-05,0.00017016790151216747,0.00018089321813597595,0.0001764415958376506,-3.958902671369688e-05,0.00036884003851389753,0.00012334531270964832,0.00037056768968263433,0.0011375123008597577,0.0816725195565398,0.007480169830747118,0.0004213527279726169,-0.0010689944989970765],"joint_position_rad":[-1.588742291658913,-1.589112807741605,1.3697500858628693,-1.35132776053559,-1.570773352467548,-0.0179548398578986],"joint_velocity_rad_s":[-0.00031877123212719765,0.04199234202806306,-0.25600731997114434,0.21073076485624667,9.928605406737712e-07,-2.439159641404639e-06],"linkage_position_rad":[0.4611838916330782,0.00029150986804402323,0.45827940555680247,-0.4508448275323784,0.46118392053917784,0.0002905147033287975,0.4582206281771615,-0.45104692185301953],"tcp_position_m":[-0.12546409987144932,0.4771233763967233,0.41742032969281684],"tcp_quaternion_wxyz":[2.8476773654477345e-05,0.7071036427884108,0.7071099174970221,-4.606285393621325e-05],"object_position_m":[-0.1254693948508975,0.4771577604667854,0.41180853526301464],"object_quaternion_wxyz":[0.9999997964259881,-0.0006347700954365224,6.326364661281603e-05,1.458148449321644e-05],"object_linear_velocity_m_s":[0.00037056768968263433,0.0011375123008597577,0.0816725195565398],"object_angular_velocity_rad_s":[0.007480022208791457,0.0004202127982042603,-0.0010704751362303128],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322674263309355,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08739485234782,"right":46.088159384659335},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588747251283376,-1.5905503103318224,1.308874607664309,-1.3143201107593097,-1.5707702070652294,-0.01795534095597222,180.0],"actuator_force":[0.11758924392415793,-19.671941991660333,-19.34802840866314,-2.5692515974845946,0.0014734151052380184,-6.633072670680917e-06,5.0],"issued_joint_targets_rad":[-1.5887508716071495,-1.5798493323344773,1.3152141012713865,-1.3064172108544745,-1.5707722562177524,-0.017954538406829635],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5887508716071495,-1.5798493323344773,1.3152141012713865,-1.3064172108544745,-1.5707722562177524,-0.017954538406829635],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.5599999999998575,"qpos":[-1.5887433445513843,-1.5882312358154105,1.3645589492684231,-1.3470426292465583,-1.5707732797226954,-0.017954814681729214,0.46118517283818466,0.00029119745686149003,0.45828060127284187,-0.45084444328419876,0.46118526770362256,0.00029063198020713406,0.4582224556162742,-0.45104909947933897,-0.12546817998599685,0.4771735189060314,0.413460756665608,0.999999811773978,-0.0006100522279274651,6.440243107609451e-05,1.1858140283615657e-05],"qvel":[-0.0002581387164656978,0.041490546859445886,-0.24960444722339895,0.2046375947583417,-9.272852805716908e-07,1.4534812669579652e-06,0.00016709679884706056,-6.363473261892885e-05,0.0001672608552694186,0.00011466082626623423,0.00018165289173748854,-1.2671002877457705e-05,0.00031783852911481986,-8.236268610879624e-05,0.0002811948756955053,0.001121186224614977,0.07925931359715711,0.0076968223540892925,0.0003913139905900082,-0.001011208261205322],"joint_position_rad":[-1.5887433445513843,-1.5882312358154105,1.3645589492684231,-1.3470426292465583,-1.5707732797226954,-0.017954814681729214],"joint_velocity_rad_s":[-0.0002581387164656978,0.041490546859445886,-0.24960444722339895,0.2046375947583417,-9.272852805716908e-07,1.4534812669579652e-06],"linkage_position_rad":[0.46118517283818466,0.00029119745686149003,0.45828060127284187,-0.45084444328419876,0.46118526770362256,0.00029063198020713406,0.4582224556162742,-0.45104909947933897],"tcp_position_m":[-0.12546344219595695,0.4771331985895116,0.41907753863713826],"tcp_quaternion_wxyz":[1.9968521732574237e-05,0.7071040242507409,0.7071095368460798,-3.7295948948429426e-05],"object_position_m":[-0.12546817998599685,0.4771735189060314,0.413460756665608],"object_quaternion_wxyz":[0.999999811773978,-0.0006100522279274651,6.440243107609451e-05,1.1858140283615657e-05],"object_linear_velocity_m_s":[0.0002811948756955053,0.001121186224614977,0.07925931359715711],"object_angular_velocity_rad_s":[0.00769668274293187,0.00039026185336216943,-0.0010126764427176005],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322462298498936,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08904572061843,"right":46.08968715436261},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588746691914105,-1.5897324380904092,1.3049783673289188,-1.3112362506503832,-1.57077070828375,-0.01795454103055026,180.0],"actuator_force":[0.096560761145156,-19.5986232937762,-19.31938498964928,-2.5605701777466265,0.0013784480007643651,-8.522537218169646e-06,5.0],"issued_joint_targets_rad":[-1.5887486901510017,-1.579650708044842,1.3149530824018654,-1.3063318259842047,-1.570774324259935,-0.01795236269448149],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.5887486901510017,-1.579650708044842,1.3149530824018654,-1.3063318259842047,-1.570774324259935,-0.01795236269448149],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.579999999999864,"qpos":[-1.5887459194269808,-1.5874324286300452,1.3597959963284527,-1.343150692509464,-1.5707734834092768,-0.01795458923552899,0.4611881437909374,0.0002905859185111044,0.4582832856555448,-0.4508439385727499,0.4611883830132874,0.0002911339118627444,0.4582265049355433,-0.45105585480202004,-0.12546574836714708,0.47719715671079255,0.41496882654495865,0.9999998556974784,-0.0005329641292484763,6.738616345244304e-05,3.65576559108827e-06],"qvel":[-0.00012963759179902753,0.03813188582986429,-0.2269884681382382,0.1854120838961459,-5.413606756237333e-06,1.1252234909655985e-05,7.830140854846437e-05,-1.3689855673932806e-05,6.210483097579558e-05,8.718604041239584e-06,8.298007263613178e-05,2.9582051470480536e-05,0.00010896377959870027,-0.0002981650028250539,7.998005049371883e-05,0.0010177958312827353,0.07170961560648369,0.007500757807873709,0.00033275790394112604,-0.0008391305599066048],"joint_position_rad":[-1.5887459194269808,-1.5874324286300452,1.3597959963284527,-1.343150692509464,-1.5707734834092768,-0.01795458923552899],"joint_velocity_rad_s":[-0.00012963759179902753,0.03813188582986429,-0.2269884681382382,0.1854120838961459,-5.413606756237333e-06,1.1252234909655985e-05],"linkage_position_rad":[0.4611881437909374,0.0002905859185111044,0.4582832856555448,-0.4508439385727499,0.4611883830132874,0.0002911339118627444,0.4582265049355433,-0.45105585480202004],"tcp_position_m":[-0.12546197794170955,0.4771437482829914,0.4206050902386568],"tcp_quaternion_wxyz":[-5.025568466036326e-06,0.7071050146018034,0.7071085476596635,-1.1241345776829434e-05],"object_position_m":[-0.12546574836714708,0.47719715671079255,0.41496882654495865],"object_quaternion_wxyz":[0.9999998556974784,-0.0005329641292484763,6.738616345244304e-05,3.65576559108827e-06],"object_linear_velocity_m_s":[7.998005049371883e-05,0.0010177958312827353,0.07170961560648369],"object_angular_velocity_rad_s":[0.007500642194389963,0.00033191756487735847,-0.0008404956950786374],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322069404177144,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.092660442053905,"right":46.0928846616799},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887452480673447,-1.5895400147299616,1.3047250865542068,-1.311152469766986,-1.5707727768891313,-0.017952364769645658,180.0],"actuator_force":[0.053197755991732265,-19.46792653177863,-19.346432293196358,-2.542097018375557,0.0008946207483404578,-1.2990549301150622e-05,5.0],"issued_joint_targets_rad":[-1.5887466739111746,-1.5794831300685996,1.3147313128974245,-1.3062565511505335,-1.570776235644481,-0.01795035193018079],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5887466739111746,-1.5794831300685996,1.3147313128974245,-1.3062565511505335,-1.570776235644481,-0.01795035193018079],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.599999999999871,"qpos":[-1.588747272702352,-1.5866939217848237,1.35546859582757,-1.3396235110377082,-1.5707737604227725,-0.017954192503914338,0.4611878769805037,0.0002905754059038136,0.4582829090051761,-0.450843264138896,0.46118814218173465,0.0002914972490579887,0.4582263690920577,-0.45105834982686616,-0.12546514732638964,0.4772187930077341,0.41633129631588045,0.9999998895827998,-0.0004646249834296722,7.033712133351973e-05,-3.271476272215358e-06],"qvel":[-9.364509747500027e-05,0.035366849376492725,-0.20617301737624713,0.16806061013955237,-1.1807115846594242e-05,1.9393223123703526e-05,-3.937197578211688e-05,1.615166106468266e-07,-4.121033586665479e-05,4.5486902355768006e-05,-3.83104995063835e-05,1.0920242673059238e-05,-3.062175923180312e-05,-4.069338029373698e-05,4.9814421009867086e-05,0.00095488810486519,0.06474292708641324,0.0064115879678020675,0.00032939741800361397,-0.000722138529956768],"joint_position_rad":[-1.588747272702352,-1.5866939217848237,1.35546859582757,-1.3396235110377082,-1.5707737604227725,-0.017954192503914338],"joint_velocity_rad_s":[-9.364509747500027e-05,0.035366849376492725,-0.20617301737624713,0.16806061013955237,-1.1807115846594242e-05,1.9393223123703526e-05],"linkage_position_rad":[0.4611878769805037,0.0002905754059038136,0.4582829090051761,-0.450843264138896,0.46118814218173465,0.0002914972490579887,0.4582263690920577,-0.45105834982686616],"tcp_position_m":[-0.12546108798590652,0.4771535754251753,0.42198634772762633],"tcp_quaternion_wxyz":[-2.634925032530825e-05,0.7071056328422294,0.707107928951549,1.1061535715937685e-05],"object_position_m":[-0.12546514732638964,0.4772187930077341,0.41633129631588045],"object_quaternion_wxyz":[0.9999998895827998,-0.0004646249834296722,7.033712133351973e-05,-3.271476272215358e-06],"object_linear_velocity_m_s":[4.9814421009867086e-05,0.00095488810486519,0.06474292708641324],"object_angular_velocity_rad_s":[0.006411488449451461,0.000328683859202237,-0.0007233462293744655],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632217995204379,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0922573768716,"right":46.09234354297007},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887438605090556,-1.5893783694224757,1.3045104849960614,-1.311078566335434,-1.5707746890805696,-0.017950353536794958,180.0],"actuator_force":[0.04428242558242346,-19.515635025901247,-19.447014712518012,-2.5335886628182607,0.0007163826860505651,-1.9838752679746108e-05,5.0],"issued_joint_targets_rad":[-1.5887448190215563,-1.579343708988977,1.3145452503130453,-1.306190655206802,-1.5707779948365546,-0.017948501580528815],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5887448190215563,-1.579343708988977,1.3145452503130453,-1.306190655206802,-1.5707779948365546,-0.017948501580528815],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.6199999999998775,"qpos":[-1.5887482396886405,-1.5860096788473406,1.3515397125704176,-1.3364265861400164,-1.57077416546167,-0.017953655744832386,0.4611869716749501,0.00029066105002968244,0.45828199882507475,-0.45084268011964496,0.46118723694475566,0.00029173014510936715,0.45822543204828664,-0.4510591202678,-0.1254646927588718,0.47723888827779704,0.41756089809918456,0.9999999145372398,-0.00040681198113230873,7.309711143009762e-05,-9.291801470357044e-06],"qvel":[-7.275908044621124e-05,0.03276856992321027,-0.1871777560201286,0.1523297969770809,-1.8632785652221117e-05,2.6028189879136054e-05,-2.6577975727490073e-05,1.6589698612745507e-06,-2.824993460656286e-05,1.5820673154280558e-05,-2.5779726882158476e-05,1.1355998505267044e-05,-2.1023507986397652e-05,-5.328903417979866e-05,4.3461838462785025e-05,0.0008980959450913562,0.05842911081844551,0.005398234482076613,0.000291159109383751,-0.000625253185133095],"joint_position_rad":[-1.5887482396886405,-1.5860096788473406,1.3515397125704176,-1.3364265861400164,-1.57077416546167,-0.017953655744832386],"joint_velocity_rad_s":[-7.275908044621124e-05,0.03276856992321027,-0.1871777560201286,0.1523297969770809,-1.8632785652221117e-05,2.6028189879136054e-05],"linkage_position_rad":[0.4611869716749501,0.00029066105002968244,0.45828199882507475,-0.45084268011964496,0.46118723694475566,0.00029173014510936715,0.45822543204828664,-0.4510591202678],"tcp_position_m":[-0.12546035275149547,0.47716317704051514,0.42323321763976207],"tcp_quaternion_wxyz":[-4.2767881766355596e-05,0.7071061636714369,0.707107396838548,2.8372227398519298e-05],"object_position_m":[-0.1254646927588718,0.47723888827779704,0.41756089809918456],"object_quaternion_wxyz":[0.9999999145372398,-0.00040681198113230873,7.309711143009762e-05,-9.291801470357044e-06],"object_linear_velocity_m_s":[4.3461838462785025e-05,0.0008980959450913562,0.05842911081844551],"object_angular_velocity_rad_s":[0.005398148403802848,0.0002905496531912127,-0.0006262790157177617],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322354499135396,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.092659935386195,"right":46.092744264930204},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588742521674122,-1.5892447470687445,1.3043310358594795,-1.3110137941297333,-1.5707764495146324,-0.017948502806789966,180.0],"actuator_force":[0.04053966121591657,-19.57756441209176,-19.546251013824985,-2.526583692566419,0.0007212520840766956,-2.6349966704586336e-05,5.0],"issued_joint_targets_rad":[-1.5887431149484863,-1.5792277129952137,1.3143891497402336,-1.3061329757815576,-1.570779611451389,-0.01794680117417852],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5887431149484863,-1.5792277129952137,1.3143891497402336,-1.3061329757815576,-1.570779611451389,-0.01794680117417852],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.639999999999884,"qpos":[-1.5887489394612975,-1.5853767636196932,1.3479740076380315,-1.3335291304721304,-1.5707746859082483,-0.017953006723759206,0.4611864056725371,0.00029074804232991964,0.45828141499882735,-0.45084254911096466,0.46118667219640014,0.00029196714019138093,0.45822482608405946,-0.45106025771929825,-0.1254642939139145,0.4772575552541316,0.41867042531321136,0.9999999328333895,-0.0003583570333794695,7.55167958938962e-05,-1.4514349834182532e-05],"qvel":[-5.529059062755171e-05,0.03030023928205671,-0.1698729792237106,0.13806281738417478,-2.43015626592637e-05,3.1339810556361586e-05,-1.704214798092586e-05,1.831796952550899e-06,-1.8865284635719233e-05,4.339687802019483e-06,-1.633287035735444e-05,1.077440306708746e-05,-1.2793673765355527e-05,-5.984538650753033e-05,3.638652889820042e-05,0.0008420196666268886,0.05272960123852429,0.0045156024897211895,0.00025333658136409093,-0.000538437494454282],"joint_position_rad":[-1.5887489394612975,-1.5853767636196932,1.3479740076380315,-1.3335291304721304,-1.5707746859082483,-0.017953006723759206],"joint_velocity_rad_s":[-5.529059062755171e-05,0.03030023928205671,-0.1698729792237106,0.13806281738417478,-2.43015626592637e-05,3.1339810556361586e-05],"linkage_position_rad":[0.4611864056725371,0.00029074804232991964,0.45828141499882735,-0.45084254911096466,0.46118667219640014,0.00029196714019138093,0.45822482608405946,-0.45106025771929825],"tcp_position_m":[-0.12545971947426723,0.47717252264564824,0.4243585620928574],"tcp_quaternion_wxyz":[-5.484679431628344e-05,0.7071066396819649,0.70710691935979,4.126761949487686e-05],"object_position_m":[-0.1254642939139145,0.4772575552541316,0.41867042531321136],"object_quaternion_wxyz":[0.9999999328333895,-0.0003583570333794695,7.55167958938962e-05,-1.4514349834182532e-05],"object_linear_velocity_m_s":[3.638652889820042e-05,0.0008420196666268886,0.05272960123852429],"object_angular_velocity_rad_s":[0.0045155284488906,0.0002528192852084821,-0.0005393008810988274],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322498052480905,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09334729546598,"right":46.093431519920244},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887412392441127,-1.5891343747275306,1.304181023192318,-1.3109570271072624,-1.5707780677723266,-0.017946802095055316,180.0],"actuator_force":[0.03751667062033448,-19.635317928497898,-19.636777201942095,-2.520230055983461,0.0007392242267769689,-3.166670369125768e-05,5.0],"issued_joint_targets_rad":[-1.588741551590136,-1.579131095116925,1.3142580628404175,-1.3060824761071828,-1.5707810949293683,-0.017945240710189492],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.588741551590136,-1.579131095116925,1.3142580628404175,-1.3060824761071828,-1.5707810949293683,-0.017945240710189492],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.659999999999891,"qpos":[-1.5887494027227171,-1.5847924335319963,1.344738922505393,-1.3309032535350112,-1.5707752988694097,-0.017952269659838375,0.4611859281384261,0.00029082906548227844,0.45828092181652985,-0.4508424811853845,0.4611861955102684,0.0002921798502028625,0.458224307102538,-0.451061317263378,-0.12546396860696493,0.4772748637041957,0.41967162078430587,0.9999999462441369,-0.0003180011171086495,7.762509071005011e-05,-1.900941195889915e-05],"qvel":[-3.984998007601427e-05,0.027964770179945992,-0.15412053109157833,0.12512391153311628,-2.8810089865050145e-05,3.549974704768649e-05,-1.717380681147689e-05,1.9706737252449275e-06,-1.8515736310889414e-05,4.547632835561876e-06,-1.6620192048061485e-05,9.511733004053941e-06,-1.4023634108609142e-05,-5.076103285893938e-05,2.9731008843843535e-05,0.0007867752193931178,0.04758708194383973,0.003753912981749285,0.00021970945828075366,-0.0004600716548533326],"joint_position_rad":[-1.5887494027227171,-1.5847924335319963,1.344738922505393,-1.3309032535350112,-1.5707752988694097,-0.017952269659838375],"joint_velocity_rad_s":[-3.984998007601427e-05,0.027964770179945992,-0.15412053109157833,0.12512391153311628,-2.8810089865050145e-05,3.549974704768649e-05],"linkage_position_rad":[0.4611859281384261,0.00029082906548227844,0.45828092181652985,-0.4508424811853845,0.4611861955102684,0.0002921798502028625,0.458224307102538,-0.451061317263378],"tcp_position_m":[-0.12545918068035766,0.4771815430326802,0.42537422549112247],"tcp_quaternion_wxyz":[-6.326265340043734e-05,0.7071070633346577,0.7071064944098753,5.043262167919665e-05],"object_position_m":[-0.12546396860696493,0.4772748637041957,0.41967162078430587],"object_quaternion_wxyz":[0.9999999462441369,-0.0003180011171086495,7.762509071005011e-05,-1.900941195889915e-05],"object_linear_velocity_m_s":[2.9731008843843535e-05,0.0007867752193931178,0.04758708194383973],"object_angular_velocity_rad_s":[0.003753849844278145,0.00021927390378030979,-0.0004607940428620924],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632262493053151,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09388702142946,"right":46.093969503471925},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887400201846014,-1.589043161929284,1.3040555299322258,-1.3109072641285553,-1.5707795532162547,-0.01794524138757694,180.0],"actuator_force":[0.034705068261700944,-19.687364866553708,-19.71857270970304,-2.514396450083723,0.0007538355639553629,-3.583857404976243e-05,5.0],"issued_joint_targets_rad":[-1.5887401191235093,-1.5790505061609021,1.3141478499087833,-1.3060382396698178,-1.5707824544896032,-0.017943810465564456],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5887401191235093,-1.5790505061609021,1.3141478499087833,-1.3060382396698178,-1.5707824544896032,-0.017943810465564456],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.679999999999898,"qpos":[-1.5887496519116615,-1.5842538839995433,1.341804622638445,-1.328523645329773,-1.5707759835462856,-0.017951465524834086,0.4611854705214778,0.00029090670500017674,0.4582804552278292,-0.4508424158842639,0.46118573773038357,0.00029236785656154253,0.4582238066622648,-0.451062217368331,-0.12546371473975096,0.4772908824183638,0.4205750905513282,0.9999999560786903,-0.00028461990979852727,7.945062153255881e-05,-2.2841250894149386e-05],"qvel":[-2.6218376822308805e-05,0.025765978855935047,-0.139789886019959,0.11339050254570153,-3.23063634473118e-05,3.8662959218162226e-05,-1.6764427584111903e-05,2.1687901447504523e-06,-1.7681555955116473e-05,3.37222918165024e-06,-1.6346173000517614e-05,8.469421279476566e-06,-1.4536565552523205e-05,-4.37732397590973e-05,2.379822686727388e-05,0.0007329486522821898,0.042947054922483414,0.00309847900444593,0.00018922770719102938,-0.0003894984051347523],"joint_position_rad":[-1.5887496519116615,-1.5842538839995433,1.341804622638445,-1.328523645329773,-1.5707759835462856,-0.017951465524834086],"joint_velocity_rad_s":[-2.6218376822308805e-05,0.025765978855935047,-0.139789886019959,0.11339050254570153,-3.23063634473118e-05,3.8662959218162226e-05],"linkage_position_rad":[0.4611854705214778,0.00029090670500017674,0.4582804552278292,-0.4508424158842639,0.46118573773038357,0.00029236785656154253,0.4582238066622648,-0.451062217368331],"tcp_position_m":[-0.12545873200183363,0.4771901846767343,0.4262909185035585],"tcp_quaternion_wxyz":[-6.862002524058849e-05,0.7071074352236846,0.7071061215636627,5.647892501386197e-05],"object_position_m":[-0.12546371473975096,0.4772908824183638,0.4205750905513282],"object_quaternion_wxyz":[0.9999999560786903,-0.00028461990979852727,7.945062153255881e-05,-2.2841250894149386e-05],"object_linear_velocity_m_s":[2.379822686727388e-05,0.0007329486522821898,0.042947054922483414],"object_angular_velocity_rad_s":[0.0030984257010893963,0.00018886427335735564,-0.00039009836559693523],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632274219652097,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.094351371892294,"right":46.09443232800059},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887388688378001,-1.5889677288090165,1.3039504480593678,-1.3108636190098213,-1.5707809149944394,-0.01794381095031738,180.0],"actuator_force":[0.032053498451659834,-19.734081161320773,-19.792394750170843,-2.509037094594305,0.0007649122677548803,-3.900866346384646e-05,5.0],"issued_joint_targets_rad":[-1.5887388080671718,-1.5789831848449634,1.3140550615198892,-1.305999460996403,-1.570783699050892,-0.017942501052485963],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.5887388080671718,-1.5789831848449634,1.3140550615198892,-1.305999460996403,-1.570783699050892,-0.017942501052485963],"gripper_0_255":180.0,"phase":"lift"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.699999999999904,"qpos":[-1.588749709355224,-1.58375828025911,1.339143816394109,-1.3263673345496612,-1.5707767219565723,-0.017950612378547528,0.4611850487213096,0.00029098213525757783,0.4582800297181993,-0.4508423813273204,0.4611853149128974,0.00029253496845740043,0.4582233407226402,-0.45106300362597485,-0.1254635277636899,0.4773056823803276,0.42139039806703993,0.9999999632944311,-0.0002572306902089299,8.101729840154832e-05,-2.6071158134232046e-05],"qvel":[-1.4286377872574304e-05,0.023704939823092578,-0.12675974415634336,0.10275128810243193,-3.4930326057734705e-05,4.096811870503395e-05,-1.5674602850076773e-05,2.32416648252504e-06,-1.6253534343484677e-05,1.542915443310024e-06,-1.5368604540435177e-05,7.543681086201107e-06,-1.4216546239627062e-05,-3.837280217982832e-05,1.8518864075813706e-05,0.0006810197736798132,0.03876026353241747,0.00253572573809712,0.00016161495942591046,-0.0003261599917257162],"joint_position_rad":[-1.588749709355224,-1.58375828025911,1.339143816394109,-1.3263673345496612,-1.5707767219565723,-0.017950612378547528],"joint_velocity_rad_s":[-1.4286377872574304e-05,0.023704939823092578,-0.12675974415634336,0.10275128810243193,-3.4930326057734705e-05,4.096811870503395e-05],"linkage_position_rad":[0.4611850487213096,0.00029098213525757783,0.4582800297181993,-0.4508423813273204,0.4611853149128974,0.00029253496845740043,0.4582233407226402,-0.45106300362597485],"tcp_position_m":[-0.12545836808142471,0.47719841190832596,0.42711830475055557],"tcp_quaternion_wxyz":[-7.144109576642555e-05,0.707107756875735,0.7071057993469917,5.993486185381848e-05],"object_position_m":[-0.1254635277636899,0.4773056823803276,0.42139039806703993],"object_quaternion_wxyz":[0.9999999632944311,-0.0002572306902089299,8.101729840154832e-05,-2.6071158134232046e-05],"object_linear_velocity_m_s":[1.8518864075813706e-05,0.0006810197736798132,0.03876026353241747],"object_angular_velocity_rad_s":[0.002535681268028415,0.00016131481818498178,-0.0003266539308881612],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322849670226145,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.094773765811716,"right":46.09485338538306},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.5887377873114992,-1.5889052950046203,1.3038623595275902,-1.3108253116429172,-1.5707821619641489,-0.017942501386307843,180.0],"actuator_force":[0.02955863859870078,-19.776005420258116,-19.859016070500275,-2.504117356871234,0.0007730288174343514,-4.131575066068649e-05,5.0],"issued_joint_targets_rad":[-1.588737609343944,-1.578926854965007,1.3139768257335303,-1.3059654353356844,-1.5707848371662132,-0.017941303479347706],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.588737609343944,-1.578926854965007,1.3139768257335303,-1.3059654353356844,-1.5707848371662132,-0.017941303479347706],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.719999999999911,"qpos":[-1.5887495974174535,-1.5833028076715212,1.3367315666686848,-1.3244134742625704,-1.5707774986783967,-0.017949725684997246,0.4611846639871281,0.00029105524793168253,0.4582796456815635,-0.4508423780195945,0.46118492843961656,0.00029268312475572595,0.4582229108728308,-0.4510636916640271,-0.12546340267167283,0.47731933565412893,0.42212616681385573,0.9999999685887075,-0.00023497745565888008,8.234800726680637e-05,-2.875733933369802e-05],"qvel":[-3.942814275948019e-06,0.021780267458397267,-0.11491786114588315,0.09310513087556814,-3.680725836854951e-05,4.2538788796124445e-05,-1.4628954687614766e-05,2.4268201527317323e-06,-1.491719211249033e-05,2.22211870744943e-08,-1.4417182001687219e-05,6.691159958011446e-06,-1.3800590103762822e-05,-3.3417477506384784e-05,1.3850406712495714e-05,0.0006313269558340874,0.034982291231424587,0.002053677475293439,0.00013668812752890274,-0.0002695134684142769],"joint_position_rad":[-1.5887495974174535,-1.5833028076715212,1.3367315666686848,-1.3244134742625704,-1.5707774986783967,-0.017949725684997246],"joint_velocity_rad_s":[-3.942814275948019e-06,0.021780267458397267,-0.11491786114588315,0.09310513087556814,-3.680725836854951e-05,4.2538788796124445e-05],"linkage_position_rad":[0.4611846639871281,0.00029105524793168253,0.4582796456815635,-0.4508423780195945,0.46118492843961656,0.00029268312475572595,0.4582229108728308,-0.4510636916640271],"tcp_position_m":[-0.12545808262478758,0.47720620372033445,0.4278651012641703],"tcp_quaternion_wxyz":[-7.21742124551908e-05,0.707108030714844,0.7071055253195212,6.125407314376027e-05],"object_position_m":[-0.12546340267167283,0.47731933565412893,0.42212616681385573],"object_quaternion_wxyz":[0.9999999685887075,-0.00023497745565888008,8.234800726680637e-05,-2.875733933369802e-05],"object_linear_velocity_m_s":[1.3850406712495714e-05,0.0006313269558340874,0.034982291231424587],"object_angular_velocity_rad_s":[0.002053640908892525,0.0001364432582374444,-0.000269915877629153],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632294773785661,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09515399067757,"right":46.09523239303735},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.588736775993402,-1.588853574345574,1.3037884230229801,-1.3107916584212898,-1.570783302625462,-0.017941303696374807,180.0],"actuator_force":[0.027219973813771503,-19.81364033146474,-19.919142833055957,-2.499605166916467,0.0007787523040860833,-4.2884568392409506e-05,5.0],"issued_joint_targets_rad":[-1.6265074034200333,-1.5938403722340815,1.3452351581241846,-1.3221630156912485,-1.5708899767610744,-0.05562427608680598],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.6265074034200333,-1.5938403722340815,1.3452351581241846,-1.3221630156912485,-1.5708899767610744,-0.05562427608680598],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.739999999999918,"qpos":[-1.590001257493997,-1.583899111626298,1.335982739139888,-1.3237988734134458,-1.5706903948265443,-0.019344368305017495,0.4612155794139005,0.00027685328663891754,0.4582860500806069,-0.45082004329993197,0.46121722338137616,0.0003004683836015489,0.45829447408601093,-0.4511238574081509,-0.12483603539597157,0.4773093154600358,0.4226056707798488,0.9999999030118412,0.0003248346797589995,0.000233275436758655,0.00018450287122646046],"qvel":[-0.1259353218178293,-0.06387610670010763,0.02746562334386164,0.0025972013266732973,0.004710065588100606,-0.1367813530430375,0.0028801006476427693,-0.0009944288506833802,0.00212194468934392,0.0036522530879805537,0.003000368333469346,0.0007823593861296047,0.003989838937673034,-0.008034453060406652,0.06036410059760128,-0.006857664712666217,0.010618768486385603,0.044521417623548595,0.01585837391209025,0.03030656533167475],"joint_position_rad":[-1.590001257493997,-1.583899111626298,1.335982739139888,-1.3237988734134458,-1.5706903948265443,-0.019344368305017495],"joint_velocity_rad_s":[-0.1259353218178293,-0.06387610670010763,0.02746562334386164,0.0025972013266732973,0.004710065588100606,-0.1367813530430375],"linkage_position_rad":[0.4612155794139005,0.00027685328663891754,0.4582860500806069,-0.45082004329993197,0.46121722338137616,0.0003004683836015489,0.45829447408601093,-0.4511238574081509],"tcp_position_m":[-0.12488671833345409,0.4771677001816665,0.4284462710883431],"tcp_quaternion_wxyz":[-0.0003567323979519083,0.7070573879977685,0.707156019679754,0.0002943644952335227],"object_position_m":[-0.12483603539597157,0.4773093154600358,0.4226056707798488],"object_quaternion_wxyz":[0.9999999030118412,0.0003248346797589995,0.000233275436758655,0.00018450287122646046],"object_linear_velocity_m_s":[0.06036410059760128,-0.006857664712666217,0.010618768486385603],"object_angular_velocity_rad_s":[0.044529703505706474,0.015855118254023737,0.03029609353355565],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046317185402756415,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08027432504699,"right":46.00736879921555},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6187304932768358,-1.6037567156730939,1.3337914183830348,-1.3269898590912836,-1.5708868313047417,-0.047941303394041554,180.0],"actuator_force":[-7.084342838546036,-14.164765413548594,-15.368890851250853,-1.8552129715862975,-0.5692247979087597,-0.6203322402082776,5.0],"issued_joint_targets_rad":[-1.6277459441040987,-1.593918892259759,1.343905688811815,-1.320756042296852,-1.5708617832429523,-0.056863209301875633],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.6277459441040987,-1.593918892259759,1.343905688811815,-1.320756042296852,-1.5708617832429523,-0.056863209301875633],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.759999999999924,"qpos":[-1.5933462602041477,-1.5850278635373298,1.3366847988633173,-1.3235248696176032,-1.5706614550236895,-0.022790103987408307,0.46125107015833167,0.00027179866308603,0.458323643548933,-0.45078674027989823,0.4612544526215244,0.00031106818440343513,0.4583123284238947,-0.4512553385675923,-0.12328665916219124,0.47723383938288744,0.42273761136397237,0.9999998254265936,0.0004018969548289721,0.00028144439964020856,0.0003292638285633608],"qvel":[-0.1740921895036151,-0.04786254727938054,0.03526578659812829,0.013908736758338787,-0.0015202076522506712,-0.172096448170027,-0.0011163422785897682,0.0004177968261361628,-0.00013908808662240987,-0.0002688014828144971,-0.0011032715724493612,-0.00013070264295369672,-0.0024573540783340464,0.0002634843132684736,0.07958380283746376,-6.419714562353547e-05,0.0041946064649936755,-0.0016300567743205714,-0.003569053215476539,-0.004509945664292184],"joint_position_rad":[-1.5933462602041477,-1.5850278635373298,1.3366847988633173,-1.3235248696176032,-1.5706614550236895,-0.022790103987408307],"joint_velocity_rad_s":[-0.1740921895036151,-0.04786254727938054,0.03526578659812829,0.013908736758338787,-0.0015202076522506712,-0.172096448170027],"linkage_position_rad":[0.46125107015833167,0.00027179866308603,0.458323643548933,-0.45078674027989823,0.4612544526215244,0.00031106818440343513,0.4583123284238947,-0.4512553385675923],"tcp_position_m":[-0.1233081579218422,0.4771013549843942,0.42861716411998096],"tcp_quaternion_wxyz":[-0.0004189378535369683,0.7070217343180416,0.7071916116362542,0.0003407701574471614],"object_position_m":[-0.12328665916219124,0.47723383938288744,0.42273761136397237],"object_quaternion_wxyz":[0.9999998254265936,0.0004018969548289721,0.00028144439964020856,0.0003292638285633608],"object_linear_velocity_m_s":[0.07958380283746376,-6.419714562353547e-05,0.0041946064649936755],"object_angular_velocity_rad_s":[-0.0016302464412608925,-0.0035665008643272975,-0.004511895828007162],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04631559056726712,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.13575746790068,"right":46.14626623581563},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6277382031869052,-1.6038180327276805,1.3337196405969938,-1.3255813881455527,-1.5708586341023008,-0.0568632097687848,180.0],"actuator_force":[0.8529898359311119,-18.435319468949274,-20.03663117189808,-2.4191329398086054,0.053431225919439385,0.1730919263144557,5.0],"issued_joint_targets_rad":[-1.6311147365194836,-1.5948034872474384,1.3443413104641015,-1.3203074314479215,-1.5708558499238632,-0.060232197004916645],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.6311147365194836,-1.5948034872474384,1.3443413104641015,-1.3203074314479215,-1.5708558499238632,-0.060232197004916645],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.779999999999931,"qpos":[-1.5969364704466567,-1.585973875194738,1.3374161531913873,-1.323213525920495,-1.5706801048045547,-0.02635306917662702,0.46119515382992043,0.0002832592185853931,0.4582823671254691,-0.45079443506275413,0.46119710840359224,0.00030233699014311285,0.4582412983470017,-0.45114839130012874,-0.12161228688875735,0.47722788574114017,0.4228026283523037,0.9999998548146989,0.0003495708533429582,0.00027298952562617915,0.00030601881803040554],"qvel":[-0.17396303474848435,-0.04441930134050185,0.035038701714818,0.014964224634517511,-0.0016107312446180743,-0.17111563800616195,-0.0026375316102926574,0.00041814504316945605,-0.001938517492069207,0.000245107415333026,-0.002707114580966393,-0.0004282768762353992,-0.0032431245777512683,0.005627229907752827,0.08195193836045547,0.0001996332173110067,0.002886096570623086,-0.005589958171578794,-0.002872377166690636,-0.0064714367404743595],"joint_position_rad":[-1.5969364704466567,-1.585973875194738,1.3374161531913873,-1.323213525920495,-1.5706801048045547,-0.02635306917662702],"joint_velocity_rad_s":[-0.17396303474848435,-0.04441930134050185,0.035038701714818,0.014964224634517511,-0.0016107312446180743,-0.17111563800616195],"linkage_position_rad":[0.46119515382992043,0.0002832592185853931,0.4582823671254691,-0.45079443506275413,0.46119710840359224,0.00030233699014311285,0.4582412983470017,-0.45114839130012874],"tcp_position_m":[-0.12160139818612173,0.4770935840411602,0.4286831197101751],"tcp_quaternion_wxyz":[-0.0003776770105395519,0.7070313914105083,0.7071819925347723,0.00031361560062941117],"object_position_m":[-0.12161228688875735,0.47722788574114017,0.4228026283523037],"object_quaternion_wxyz":[0.9999998548146989,0.0003495708533429582,0.00027298952562617915,0.00030601881803040554],"object_linear_velocity_m_s":[0.08195193836045547,0.0001996332173110067,0.002886096570623086],"object_angular_velocity_rad_s":[-0.005591733489930867,-0.0028712748884556966,-0.006470392068970527],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632231887139381,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.07605170675524,"right":46.089823539561884},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6311076366483317,-1.6046820801823551,1.3341556737396476,-1.3251325516399146,-1.5708529094009256,-0.06023219762891925,180.0],"actuator_force":[1.2428814960435375,-19.648689439033205,-20.536439589406655,-2.4559353231616114,0.07467082627636046,0.1719995744700782,5.0],"issued_joint_targets_rad":[-1.634745145095421,-1.5956704277730767,1.3450115824183277,-1.32011138399601,-1.5708596363284786,-0.06386243819476625],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.634745145095421,-1.5956704277730767,1.3450115824183277,-1.32011138399601,-1.5708596363284786,-0.06386243819476625],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.799999999999938,"qpos":[-1.6005304195956773,-1.58689362380701,1.338148927320417,-1.3229093125583018,-1.5706974149654063,-0.02991886024968011,0.4611743572531536,0.00028634277229471123,0.4582656943492524,-0.45079596428831564,0.4611756635933915,0.00029934718893750246,0.45821709610044087,-0.4511020326699391,-0.11990644825209759,0.47722476253143076,0.4228560208109924,0.9999998833216227,0.0002913200617906961,0.00026210835379197054,0.00028246871254270227],"qvel":[-0.17421198391298182,-0.04386388974406145,0.03484913317146024,0.014462609790689484,-0.001558355479328358,-0.171441104797487,-8.251426516281673e-05,5.857977351619108e-05,0.0001513237166901771,-0.00025846201738389553,-8.183624689197023e-05,-1.1510806180573523e-05,-0.0003264009755721719,6.805053879327631e-05,0.08251469338600527,0.00023460166639448555,0.002739547596343792,-0.005365819189336746,-0.003655894336521139,-0.006338415846206063],"joint_position_rad":[-1.6005304195956773,-1.58689362380701,1.338148927320417,-1.3229093125583018,-1.5706974149654063,-0.02991886024968011],"joint_velocity_rad_s":[-0.17421198391298182,-0.04386388974406145,0.03484913317146024,0.014462609790689484,-0.001558355479328358,-0.171441104797487],"linkage_position_rad":[0.4611743572531536,0.00028634277229471123,0.4582656943492524,-0.45079596428831564,0.4611756635933915,0.00029934718893750246,0.45821709610044087,-0.4511020326699391],"tcp_position_m":[-0.11989458771811508,0.4770887317812293,0.42873629541681135],"tcp_quaternion_wxyz":[-0.000330056402102163,0.7070413721341,0.7071720524314733,0.00027823255965089356],"object_position_m":[-0.11990644825209759,0.47722476253143076,0.4228560208109924],"object_quaternion_wxyz":[0.9999998833216227,0.0002913200617906961,0.00026210835379197054,0.00028246871254270227],"object_linear_velocity_m_s":[0.08251469338600527,0.00023460166639448555,0.002739547596343792],"object_angular_velocity_rad_s":[-0.005367076549079869,-0.0036552332273531857,-0.006337732542626587],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632446195500802,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08277752803423,"right":46.09967922509828},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6347381509302952,-1.6055290622105538,1.334826443722041,-1.324936110172125,-1.570856791265687,-0.06386243900374344,180.0],"actuator_force":[1.269330895956955,-19.72532090946288,-20.58462046533623,-2.459659785980648,0.07614739779251067,0.17232110271702794,5.0],"issued_joint_targets_rad":[-1.6383769587303396,-1.596523736189923,1.345698495874655,-1.3199454445872474,-1.5708642092498277,-0.06749408946709956],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.6383769587303396,-1.596523736189923,1.345698495874655,-1.3199454445872474,-1.5708642092498277,-0.06749408946709956],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.819999999999944,"qpos":[-1.6041284524569606,-1.5878053995144505,1.3388779454511646,-1.3226179807298757,-1.5707136352044961,-0.03349094417328653,0.4611785803695996,0.0002866320065466862,0.45826988122249424,-0.45080424317827744,0.4611798920342719,0.0002997361891759686,0.4582210385001889,-0.4511086992162614,-0.11819844575818017,0.4772221038512912,0.4229081763072724,0.9999999070779984,0.00023791565335337073,0.00024778082598804415,0.0002604703408165898],"qvel":[-0.17438887599054428,-0.04353688273685625,0.034648767138434636,0.013830642914153134,-0.001500861774195564,-0.17174196215283538,0.00011743636033423079,3.404384876322586e-05,0.00031515980120691036,-0.00016412321619803467,0.0001233962942424192,-1.268196939763513e-05,-9.609843869081574e-05,-0.0002651294226702588,0.08246500328802467,0.00024011253286122247,0.002726681094888705,-0.004871082677315043,-0.003657086409500027,-0.006171308010973798],"joint_position_rad":[-1.6041284524569606,-1.5878053995144505,1.3388779454511646,-1.3226179807298757,-1.5707136352044961,-0.03349094417328653],"joint_velocity_rad_s":[-0.17438887599054428,-0.04353688273685625,0.034648767138434636,0.013830642914153134,-0.001500861774195564,-0.17174196215283538],"linkage_position_rad":[0.4611785803695996,0.0002866320065466862,0.45826988122249424,-0.45080424317827744,0.4611798920342719,0.0002997361891759686,0.4582210385001889,-0.4511086992162614],"tcp_position_m":[-0.11818751304619278,0.47708426993656017,0.4287884355704751],"tcp_quaternion_wxyz":[-0.0002860506699702882,0.707050566982082,0.7071628905210946,0.00024530629876798045],"object_position_m":[-0.11819844575818017,0.4772221038512912,0.4229081763072724],"object_quaternion_wxyz":[0.9999999070779984,0.00023791565335337073,0.00024778082598804415,0.0002604703408165898],"object_linear_velocity_m_s":[0.08246500328802467,0.00024011253286122247,0.002726681094888705],"object_angular_velocity_rad_s":[-0.00487223575268383,-0.0036566879137701143,-0.006170633864819303],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324247483523026,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.091497458343056,"right":46.108429707760024},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6383700309277787,-1.6063625808341864,1.335513850566378,-1.3247698030932444,-1.5708614475527227,-0.06749409044128808,180.0],"actuator_force":[1.2723934545811062,-19.699609544729356,-20.587696624947057,-2.458975473099713,0.07618000330626273,0.17262308128276516,5.0],"issued_joint_targets_rad":[-1.642011528736825,-1.5973629163183527,1.346373285183918,-1.3197815285452137,-1.5708684547180796,-0.07112850729877232],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.642011528736825,-1.5973629163183527,1.346373285183918,-1.3197815285452137,-1.5708684547180796,-0.07112850729877232],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.839999999999951,"qpos":[-1.6077299646376255,-1.5887102104622939,1.3396018579227773,-1.3223388261021838,-1.5707287134409365,-0.03706896460079041,0.4611799592029114,0.00028683217102513605,0.45827137701815646,-0.4508071283291595,0.4611812450017991,0.00029956305375450495,0.45822217702242835,-0.4511091218776654,-0.11649114331572344,0.4772195540992679,0.4229604717484587,0.9999999257180375,0.00018956132643344718,0.00023444548562430898,0.00024013691394960673],"qvel":[-0.17455584423197232,-0.04319882224154975,0.03440192259439397,0.01324579565967945,-0.0014459362415785225,-0.17202681532617478,-7.470425889822111e-05,3.501301125209689e-05,0.00013811819111086586,7.001979198188003e-05,-7.114167086061049e-05,-3.302195606121401e-05,-0.0002912660824758625,9.32791090759906e-05,0.08245362168581133,0.00024283920116709945,0.0027293837809489302,-0.004397759028057717,-0.0035395049230949106,-0.006013264053646892],"joint_position_rad":[-1.6077299646376255,-1.5887102104622939,1.3396018579227773,-1.3223388261021838,-1.5707287134409365,-0.03706896460079041],"joint_velocity_rad_s":[-0.17455584423197232,-0.04319882224154975,0.03440192259439397,0.01324579565967945,-0.0014459362415785225,-0.17202681532617478],"linkage_position_rad":[0.4611799592029114,0.00028683217102513605,0.45827137701815646,-0.4508071283291595,0.4611812450017991,0.00029956305375450495,0.45822217702242835,-0.4511091218776654],"tcp_position_m":[-0.11648044145506863,0.47707988799483847,0.42884060260867657],"tcp_quaternion_wxyz":[-0.00024621378873252407,0.7070588887104036,0.707154594732078,0.00021546157264677257],"object_position_m":[-0.11649114331572344,0.4772195540992679,0.4229604717484587],"object_quaternion_wxyz":[0.9999999257180375,0.00018956132643344718,0.00023444548562430898,0.00024013691394960673],"object_linear_velocity_m_s":[0.08245362168581133,0.00024283920116709945,0.0027293837809489302],"object_angular_velocity_rad_s":[-0.004398878533035396,-0.003539337692429962,-0.0060125435964243175],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324124064185235,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09043951607629,"right":46.107295081594025},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6420046673473967,-1.6071821300815825,1.3361891206128096,-1.3246055543356248,-1.570865772450127,-0.07112850842190269,180.0],"actuator_force":[1.2729322732466244,-19.66431034195739,-20.586243657693103,-2.4579436826884375,0.07606411956260217,0.17290962206134708,5.0],"issued_joint_targets_rad":[-1.645648276782267,-1.5981879173973546,1.3470333892661945,-1.3196171325113426,-1.5708723071835187,-0.07476511361783808],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.645648276782267,-1.5981879173973546,1.3470333892661945,-1.3196171325113426,-1.5708723071835187,-0.07476511361783808],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.859999999999958,"qpos":[-1.6113348045086424,-1.5896075162293462,1.3403196919999605,-1.3220706703546636,-1.5707427194683563,-0.040652570318415945,0.46117964355340463,0.00028706753864612765,0.4582713075851583,-0.45080826350120334,0.4611808835103199,0.00029928252536599246,0.4582215991395209,-0.45110678921720854,-0.1147839214702268,0.4772170818417037,0.4230129602210572,0.9999999401971339,0.00014583871463951545,0.0002221360826439238,0.00022134217592816488],"qvel":[-0.17471668947901278,-0.04282908049099069,0.034110700415362384,0.01271849048676017,-0.0013945701970863962,-0.17229451212826583,-8.11547149419284e-05,3.639672932758147e-05,0.0001323002862794527,6.382809419249758e-05,-7.764562579491833e-05,-3.1093967615959636e-05,-0.00029706645950267237,8.969877287624753e-05,0.08245560089288534,0.00024528733929149666,0.0027292256231266025,-0.003968684704623397,-0.003450257315801105,-0.005868436303971889],"joint_position_rad":[-1.6113348045086424,-1.5896075162293462,1.3403196919999605,-1.3220706703546636,-1.5707427194683563,-0.040652570318415945],"joint_velocity_rad_s":[-0.17471668947901278,-0.04282908049099069,0.034110700415362384,0.01271849048676017,-0.0013945701970863962,-0.17229451212826583],"linkage_position_rad":[0.46117964355340463,0.00028706753864612765,0.4582713075851583,-0.45080826350120334,0.4611808835103199,0.00029928252536599246,0.4582215991395209,-0.45110678921720854],"tcp_position_m":[-0.11477338701343974,0.4770755600156317,0.42889289771481665],"tcp_quaternion_wxyz":[-0.00021023280559313243,0.7070664086950841,0.7071470950010653,0.0001884907356153811],"object_position_m":[-0.1147839214702268,0.4772170818417037,0.4230129602210572],"object_quaternion_wxyz":[0.9999999401971339,0.00014583871463951545,0.0002221360826439238,0.00022134217592816488],"object_linear_velocity_m_s":[0.08245560089288534,0.00024528733929149666,0.0027292256231266025],"object_angular_velocity_rad_s":[-0.003969764334422,-0.0034503028493793847,-0.0058676792567795965],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324140879183254,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08987129491659,"right":46.10671423645749},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6456414854982668,-1.6079876701162192,1.3368496934039975,-1.3244408583837648,-1.5708697014355786,-0.0747651148759429,180.0],"actuator_force":[1.2733138123567187,-19.628675577349895,-20.584277358071176,-2.4569430632266176,0.07596603609738395,0.17317893406310958,5.0],"issued_joint_targets_rad":[-1.649287068784599,-1.5989987015994784,1.3476785747456186,-1.3194520580296791,-1.570875793470243,-0.07840377353126188],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.649287068784599,-1.5989987015994784,1.3476785747456186,-1.3194520580296791,-1.570875793470243,-0.07840377353126188],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.879999999999964,"qpos":[-1.6149428509521178,-1.590496680296219,1.3410305984207187,-1.321812397412372,-1.5707557222566895,-0.04424142467274995,0.46117957762458034,0.0002873164007950119,0.45827147039615895,-0.4508098249473839,0.4611807736880563,0.0002990438646687877,0.4582212748284991,-0.45110502872728814,-0.1130767119962111,0.47721468430373665,0.4230656082655925,0.9999999513587068,0.0001063069960173861,0.0002106714420314074,0.00020395820848806518],"qvel":[-0.1748717691218466,-0.042428417462910324,0.03377921307911105,0.012244485495389763,-0.0013464230132545771,-0.1725460712314228,-6.674969484619429e-05,3.604288742851359e-05,0.00014560096494516358,4.826199642222355e-05,-6.30530186712451e-05,-2.9895958763160004e-05,-0.00028182659846758294,6.449381840832647e-05,0.08245701120772617,0.0002477006338882932,0.0027284316617402515,-0.0035820811576140936,-0.0033703675313428282,-0.005735854202760823],"joint_position_rad":[-1.6149428509521178,-1.590496680296219,1.3410305984207187,-1.321812397412372,-1.5707557222566895,-0.04424142467274995],"joint_velocity_rad_s":[-0.1748717691218466,-0.042428417462910324,0.03377921307911105,0.012244485495389763,-0.0013464230132545771,-0.1725460712314228],"linkage_position_rad":[0.46117957762458034,0.0002873164007950119,0.45827147039615895,-0.4508098249473839,0.4611807736880563,0.0002990438646687877,0.4582212748284991,-0.45110502872728814],"tcp_position_m":[-0.11306634846474936,0.4770712855623853,0.42894532458602685],"tcp_quaternion_wxyz":[-0.0001777451489609123,0.7070732038379902,0.7071403155557895,0.00016412373258749337],"object_position_m":[-0.1130767119962111,0.47721468430373665,0.4230656082655925],"object_quaternion_wxyz":[0.9999999513587068,0.0001063069960173861,0.0002106714420314074,0.00020395820848806518],"object_linear_velocity_m_s":[0.08245701120772617,0.0002477006338882932,0.0027284316617402515],"object_angular_velocity_rad_s":[-0.0035831228743799103,-0.0033706094949624865,-0.005735061311874279],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324148574748814,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08995811875269,"right":46.106792067815505},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6492803513168304,-1.6087791753615381,1.3374953368441735,-1.3242755137424662,-1.5708732615924434,-0.07840377491148467,180.0],"actuator_force":[1.273706919313554,-19.59362314547434,-20.582208384734713,-2.4560067145860103,0.0758726334485118,0.17343200377491996,5.0],"issued_joint_targets_rad":[-1.6529277951907753,-1.5997952351366143,1.3483088454460377,-1.3192863389469962,-1.5708789467450064,-0.08204437669673564],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6529277951907753,-1.5997952351366143,1.3483088454460377,-1.3192863389469962,-1.5708789467450064,-0.08204437669673564],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.899999999999971,"qpos":[-1.6185539859704527,-1.5913771106207772,1.341733814210604,-1.3215629985288198,-1.5707677858765559,-0.047835212361001404,0.46117961948502145,0.00028755511282699617,0.45827172653839743,-0.45081144680295987,0.4611807737512929,0.0002988163760412147,0.45822106627987735,-0.4511034745883662,-0.11136952537698241,0.4772123616070284,0.42311841086951973,0.9999999598665845,7.056230255462992e-05,0.00019998365430496143,0.00018786785396733945],"qvel":[-0.17502114903575125,-0.04199949311365372,0.033411395372782406,0.011818538018507161,-0.001301320159098755,-0.1727825278496837,-6.565070069564347e-05,3.518089837552525e-05,0.00014623139949474618,5.237056662269491e-05,-6.181632296587841e-05,-2.9687688102816316e-05,-0.0002796606433795111,6.184880654446099e-05,0.0824582377900618,0.00025010506661706986,0.0027274575230193106,-0.0032340330357194234,-0.0032959870756398856,-0.005614446194102788],"joint_position_rad":[-1.6185539859704527,-1.5913771106207772,1.341733814210604,-1.3215629985288198,-1.5707677858765559,-0.047835212361001404],"joint_velocity_rad_s":[-0.17502114903575125,-0.04199949311365372,0.033411395372782406,0.011818538018507161,-0.001301320159098755,-0.1727825278496837],"linkage_position_rad":[0.46117961948502145,0.00028755511282699617,0.45827172653839743,-0.45081144680295987,0.4611807737512929,0.0002988163760412147,0.45822106627987735,-0.4511034745883662],"tcp_position_m":[-0.11135932389981922,0.47706706656750075,0.42899787821169044],"tcp_quaternion_wxyz":[-0.0001484161789451688,0.7070793444675628,0.707134186986604,0.00014210824402566144],"object_position_m":[-0.11136952537698241,0.4772123616070284,0.42311841086951973],"object_quaternion_wxyz":[0.9999999598665845,7.056230255462992e-05,0.00019998365430496143,0.00018786785396733945],"object_linear_velocity_m_s":[0.0824582377900618,0.00025010506661706986,0.0027274575230193106],"object_angular_velocity_rad_s":[-0.003235039965484903,-0.003296410128479993,-0.005613617659936877],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463241466222372,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08998585727134,"right":46.106810006207205},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6529211549298737,-1.609556623403687,1.3381260559783297,-1.324109551395055,-1.5708764862541562,-0.08204437818740135,180.0],"actuator_force":[1.274121695458689,-19.559228320358216,-20.580074613661054,-2.455130234968351,0.07578182710972214,0.17366987176839643,5.0],"issued_joint_targets_rad":[-1.6565703481702496,-1.600577485060306,1.3489242256045655,-1.319120029004322,-1.5708817979350322,-0.08568681458263182],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.6565703481702496,-1.600577485060306,1.3489242256045655,-1.319120029004322,-1.5708817979350322,-0.08568681458263182],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.919999999999978,"qpos":[-1.6221680925332003,-1.5922482683695072,1.342428651860054,-1.3213215666249352,-1.5707789712254723,-0.0514336378748666,0.4611796415603813,0.000287782549652448,0.45827195511406726,-0.45081297032925904,0.461180755606629,0.00029859470946230266,0.4582208481515944,-0.4511019386109742,-0.10966236069137136,0.477210114147429,0.42317136184214155,0.999999966257643,3.823944495084178e-05,0.00019001536599898064,0.000172964211421565],"qvel":[-0.17516486919935872,-0.04154488662323913,0.03301083263444987,0.011435798495857097,-0.001259114627716269,-0.17300482638122852,-6.555826495970844e-05,3.446239388749951e-05,0.00014593731318745352,5.656430602128017e-05,-6.159408455420719e-05,-2.9391294399763638e-05,-0.0002784948652036196,5.9776542660776054e-05,0.08245959606361022,0.0002525031309978859,0.0027261121241504626,-0.002920835471743312,-0.00322698905895387,-0.005503229243975381],"joint_position_rad":[-1.6221680925332003,-1.5922482683695072,1.342428651860054,-1.3213215666249352,-1.5707789712254723,-0.0514336378748666],"joint_velocity_rad_s":[-0.17516486919935872,-0.04154488662323913,0.03301083263444987,0.011435798495857097,-0.001259114627716269,-0.17300482638122852],"linkage_position_rad":[0.4611796415603813,0.000287782549652448,0.45827195511406726,-0.45081297032925904,0.461180755606629,0.00029859470946230266,0.4582208481515944,-0.4511019386109742],"tcp_position_m":[-0.10965231141850978,0.477062905039308,0.42905055348543686],"tcp_quaternion_wxyz":[-0.00012194285381516646,0.7070848941484867,0.7071286464712382,0.00012221586547453057],"object_position_m":[-0.10966236069137136,0.477210114147429,0.42317136184214155],"object_quaternion_wxyz":[0.999999966257643,3.823944495084178e-05,0.00019001536599898064,0.000172964211421565],"object_linear_velocity_m_s":[0.08245959606361022,0.0002525031309978859,0.0027261121241504626],"object_angular_velocity_rad_s":[-0.0029218102947236434,-0.0032275787797428476,-0.00550236587056408],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324145232782485,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08997041719216,"right":46.10678521789065},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6565637881866817,-1.61031999165814,1.338741876144756,-1.3239430224846196,-1.5708794065014704,-0.08568681617319945,180.0],"actuator_force":[1.2745563727808076,-19.52549192797005,-20.577884484375318,-2.4543077794279498,0.07569382477265663,0.17389348895642343,5.0],"issued_joint_targets_rad":[-1.6602146209140418,-1.601345419405046,1.349524739388873,-1.318953181345963,-1.5708843751561516,-0.08933097975846038],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.6602146209140418,-1.601345419405046,1.349524739388873,-1.318953181345963,-1.5708843751561516,-0.08933097975846038],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.939999999999984,"qpos":[-1.6257850543705434,-1.593109663846143,1.3431144918683744,-1.3210872865995802,-1.570789336110797,-0.05503642371870992,0.4611796571978138,0.0002880010023143669,0.45827216948153604,-0.4508144280399158,0.4611807325389069,0.00029838062463580955,0.4582206330115102,-0.4511004491040534,-0.10795521521590008,0.47720794233372094,0.4232244533981863,0.999999970966683,9.008385234718009e-06,0.00018071199028540412,0.0001591498017408901],"qvel":[-0.17530296729957992,-0.04106694231978991,0.0325807636395295,0.01109188443154106,-0.001219657076961744,-0.17321382581045336,-6.45431792301796e-05,3.380386763996556e-05,0.00014654254378433095,5.924417396627811e-05,-6.0450643353702756e-05,-2.905590690662154e-05,-0.0002764485777756604,5.634524242774594e-05,0.08246107554063713,0.000254895803542491,0.0027244078615217995,-0.002639132225632412,-0.0031629745520456018,-0.005401304062939679],"joint_position_rad":[-1.6257850543705434,-1.593109663846143,1.3431144918683744,-1.3210872865995802,-1.570789336110797,-0.05503642371870992],"joint_velocity_rad_s":[-0.17530296729957992,-0.04106694231978991,0.0325807636395295,0.01109188443154106,-0.001219657076961744,-0.17321382581045336],"linkage_position_rad":[0.4611796571978138,0.0002880010023143669,0.45827216948153604,-0.4508144280399158,0.4611807325389069,0.00029838062463580955,0.4582206330115102,-0.4511004491040534],"tcp_position_m":[-0.10794530922580273,0.4770588028476196,0.42910334575819514],"tcp_quaternion_wxyz":[-9.805113880540638e-05,0.7070899102581427,0.707123637231188,0.00010424030260496899],"object_position_m":[-0.10795521521590008,0.47720794233372094,0.4232244533981863],"object_quaternion_wxyz":[0.999999970966683,9.008385234718009e-06,0.00018071199028540412,0.0001591498017408901],"object_linear_velocity_m_s":[0.08246107554063713,0.000254895803542491,0.0027244078615217995],"object_angular_velocity_rad_s":[-0.0026400773325968873,-0.0031637174312469066,-0.005400407039725885],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632414418446907,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08995936956673,"right":46.106765351940965},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.660208143986185,-1.6110692575926264,1.3393428224975368,-1.3237759778064992,-1.5708820505973173,-0.08933098143940311,180.0],"actuator_force":[1.2750076885486124,-19.492410565050704,-20.57564419748678,-2.4535340466136404,0.07560846443595892,0.17410372069873858,5.0],"issued_joint_targets_rad":[-1.6638605073775765,-1.6020990072356556,1.3501104096800167,-1.3187858472092457,-1.5708867039149446,-0.09297676562876814],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.6638605073775765,-1.6020990072356556,1.3501104096800167,-1.3187858472092457,-1.5708867039149446,-0.09297676562876814],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.959999999999991,"qpos":[-1.629404755965416,-1.5939608518966017,1.343790776090453,-1.320859426358024,-1.5707989352550482,-0.058643308766752465,0.46117967453109554,0.0002882109512269554,0.4582723777481245,-0.4508158326119237,0.4611807126358963,0.0002981740767413239,0.45822042839234944,-0.4510990152485567,-0.10624808662535029,0.47720584657586695,0.4232776786737285,0.9999999743450101,-1.7429112826250362e-05,0.00017202342804798583,0.00014633573228195509],"qvel":[-0.17543548156293892,-0.04056778367256072,0.03212411045201199,0.010782840874024093,-0.001182799869103369,-0.1734103066573146,-6.349162588082645e-05,3.315249545906154e-05,0.00014719241085093466,6.183696830608177e-05,-5.9272957884490935e-05,-2.8740742544991277e-05,-0.00027438007835401047,5.302818447552314e-05,0.0824626625022113,0.0002572839837403707,0.0027223960123136113,-0.0023858860205544317,-0.0031035083456662786,-0.005307853305648249],"joint_position_rad":[-1.629404755965416,-1.5939608518966017,1.343790776090453,-1.320859426358024,-1.5707989352550482,-0.058643308766752465],"joint_velocity_rad_s":[-0.17543548156293892,-0.04056778367256072,0.03212411045201199,0.010782840874024093,-0.001182799869103369,-0.1734103066573146],"linkage_position_rad":[0.46117967453109554,0.0002882109512269554,0.4582723777481245,-0.4508158326119237,0.4611807126358963,0.0002981740767413239,0.45822042839234944,-0.4510990152485567],"tcp_position_m":[-0.10623831564578573,0.47705476172588945,0.4291562508462369],"tcp_quaternion_wxyz":[-7.64932838052854e-05,0.707094444580769,0.7071191079645804,8.799526519287765e-05],"object_position_m":[-0.10624808662535029,0.47720584657586695,0.4232776786737285],"object_quaternion_wxyz":[0.9999999743450101,-1.7429112826250362e-05,0.00017202342804798583,0.00014633573228195509],"object_linear_velocity_m_s":[0.0824626625022113,0.0002572839837403707,0.0027223960123136113],"object_angular_velocity_rad_s":[-0.0023868035733651564,-0.0031043917668685337,-0.005306924093007986],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324142822497506,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089950254926734,"right":46.10674788208218},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6638541160185762,-1.6118043988615447,1.339928918800161,-1.3236084664747403,-1.5708844441889105,-0.09297676739147274,180.0],"actuator_force":[1.2754725188551674,-19.45998046086197,-20.573358761389045,-2.452804145760524,0.07552551997923729,0.17430135337131958,5.0],"issued_joint_targets_rad":[-1.6675079021456019,-1.602838218556532,1.350681258021774,-1.3186180759135586,-1.5708888073402658,-0.09662406628990246],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.6675079021456019,-1.602838218556532,1.350681258021774,-1.3186180759135586,-1.5708888073402658,-0.09662406628990246],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":4.979999999999998,"qpos":[-1.633027082561691,-1.5948014276962257,1.3444570017342663,-1.3206373286862974,-1.5708078203605766,-0.06225404676225673,0.4611796923595841,0.0002884125983679928,0.4582725790449689,-0.4508171838032655,0.46118069464282424,0.00029797469641858795,0.45822023280442103,-0.451097632905003,-0.10454097279940008,0.4772038272840318,0.4233310316515726,0.9999999766759894,-4.134252776703395e-05,0.00016390381222918215,0.00013444090742055658],"qvel":[-0.1755624504500064,-0.040049332765834354,0.03164350973640946,0.010505100470255022,-0.0011483986768583265,-0.17359497783358574,-6.25071934471559e-05,3.251399196069882e-05,0.00014778758844218213,6.441939116635542e-05,-5.8164604868931005e-05,-2.8439714211764576e-05,-0.00027238823689708136,4.9901183995157044e-05,0.08246435104104062,0.00025966839780359926,0.0027201099014623484,-0.0021583514481440143,-0.003048199897683727,-0.0052221349577788855],"joint_position_rad":[-1.633027082561691,-1.5948014276962257,1.3444570017342663,-1.3206373286862974,-1.5708078203605766,-0.06225404676225673],"joint_velocity_rad_s":[-0.1755624504500064,-0.040049332765834354,0.03164350973640946,0.010505100470255022,-0.0011483986768583265,-0.17359497783358574],"linkage_position_rad":[0.4611796923595841,0.0002884125983679928,0.4582725790449689,-0.4508171838032655,0.46118069464282424,0.00029797469641858795,0.45822023280442103,-0.451097632905003],"tcp_position_m":[-0.10453132911218802,0.4770507832834317,0.4292092650062672],"tcp_quaternion_wxyz":[-5.7045318421179405e-05,0.7070985438541987,0.7071150123214566,7.331254554624324e-05],"object_position_m":[-0.10454097279940008,0.4772038272840318,0.4233310316515726],"object_quaternion_wxyz":[0.9999999766759894,-4.134252776703395e-05,0.00016390381222918215,0.00013444090742055658],"object_linear_velocity_m_s":[0.08246435104104062,0.00025966839780359926,0.0027201099014623484],"object_angular_velocity_rad_s":[-0.0021592434049093165,-0.003049212111917646,-0.005221175205075116],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463241412074953,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08994001573038,"right":46.106729710938566},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6675015986280017,-1.6125253932944958,1.3405001873849434,-1.3234405358897894,-1.5708866105391688,-0.09662406812658286,180.0],"actuator_force":[1.2759480473810072,-19.428198090206934,-20.571032593209566,-2.4521136487713875,0.07544477838985131,0.1744871011955027,5.0],"issued_joint_targets_rad":[-1.671156700353169,-1.603563024237666,1.3512373046587511,-1.3184499149281408,-1.5708907063982174,-0.10027277644367874],"issued_gripper_0_255":180.0,"command":{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.671156700353169,-1.603563024237666,1.3512373046587511,-1.3184499149281408,-1.5708907063982174,-0.10027277644367874],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.000000000000004,"qpos":[-1.636651920164324,-1.5956310229185533,1.345112715950773,-1.3204204038984724,-1.5708160401917788,-0.06586840495150306,0.4611797101141263,0.00028860626296832697,0.45827277311221054,-0.45081848299089144,0.4611806779380341,0.00029778224780799067,0.4582200453832127,-0.45109629967706505,-0.10283387175583848,0.47720188486784515,0.42338450692740004,0.9999999781877653,-6.297535291793449e-05,0.00015631109349837448,0.00012339131181162831],"qvel":[-0.17568391221850246,-0.03951332896228708,0.031141340519401022,0.010255446231096603,-0.0011163131089012045,-0.17376848310647644,-6.152686361179455e-05,3.189121449204787e-05,0.0001483881257322204,6.689614297864522e-05,-5.7062407490567477e-05,-2.8148956872389394e-05,-0.00027041130344658413,4.6861560965143366e-05,0.0824661359620023,0.00026204967421735587,0.002717577478814894,-0.001954047784510296,-0.002996694322600292,-0.0051434750948414635],"joint_position_rad":[-1.636651920164324,-1.5956310229185533,1.345112715950773,-1.3204204038984724,-1.5708160401917788,-0.06586840495150306],"joint_velocity_rad_s":[-0.17568391221850246,-0.03951332896228708,0.031141340519401022,0.010255446231096603,-0.0011163131089012045,-0.17376848310647644],"linkage_position_rad":[0.4611797101141263,0.00028860626296832697,0.45827277311221054,-0.45081848299089144,0.4611806779380341,0.00029778224780799067,0.4582200453832127,-0.45109629967706505],"tcp_position_m":[-0.10282434815801847,0.4770468690165417,0.4292623848962631],"tcp_quaternion_wxyz":[-3.950477013897312e-05,0.7071022502636962,0.7071113084278567,6.004026627899376e-05],"object_position_m":[-0.10283387175583848,0.47720188486784515,0.42338450692740004],"object_quaternion_wxyz":[0.9999999781877653,-6.297535291793449e-05,0.00015631109349837448,0.00012339131181162831],"object_linear_velocity_m_s":[0.0824661359620023,0.00026204967421735587,0.002717577478814894],"object_angular_velocity_rad_s":[-0.001954915922914352,-0.0029978244168507888,-0.005142486573495158],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632413940591736,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08992897059762,"right":46.106711124070124},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6711504867313602,-1.6132322188944326,1.341056649200286,-1.3232722317867927,-1.5708885707416547,-0.10027277834729714,180.0],"actuator_force":[1.2764317533283247,-19.397060366844016,-20.568669708734433,-2.4514585672698104,0.07536603595224278,0.17466161275060443,5.0],"issued_joint_targets_rad":[-1.674806797617081,-1.60427339595892,1.3517785686200703,-1.3182814099721882,-1.5708924200901448,-0.10392279132236393],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.674806797617081,-1.60427339595892,1.3517785686200703,-1.3182814099721882,-1.5708924200901448,-0.10392279132236393],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.020000000000011,"qpos":[-1.6402791555313718,-1.5964493022670663,1.3457575109494655,-1.3202081231976843,-1.5708236406677458,-0.0694861628413577,0.4611797278428125,0.000288792267478049,0.4582729602731014,-0.4508197323072403,0.4611806625191296,0.00029759651591719657,0.45821986587058033,-0.451095014050242,-0.10112678164069616,0.4772000197367165,0.42343809965666274,0.9999999790636315,-8.25476029418026e-05,0.00014920670214805637,0.0001131193620950682],"qvel":[-0.1757999045406688,-0.03896134639883733,0.030619749127886044,0.010030977447141178,-0.0010864072258900215,-0.17393140699517232,-6.054518631385654e-05,3.128299494533382e-05,0.00014899845940781017,6.926858696885061e-05,-5.59607835732821e-05,-2.7868701329877136e-05,-0.0002684432359351233,4.3904763015741374e-05,0.08246801238035409,0.00026442837364248494,0.0027148250352799852,-0.0017707333384182516,-0.0029486677614209717,-0.00507126142633295],"joint_position_rad":[-1.6402791555313718,-1.5964493022670663,1.3457575109494655,-1.3202081231976843,-1.5708236406677458,-0.0694861628413577],"joint_velocity_rad_s":[-0.1757999045406688,-0.03896134639883733,0.030619749127886044,0.010030977447141178,-0.0010864072258900215,-0.17393140699517232],"linkage_position_rad":[0.4611797278428125,0.000288792267478049,0.4582729602731014,-0.4508197323072403,0.4611806625191296,0.00029759651591719657,0.45821986587058033,-0.451095014050242],"tcp_position_m":[-0.10111737140610225,0.477043020319316,0.4293156075378926],"tcp_quaternion_wxyz":[-2.3688600084336562e-05,0.7071056018872647,0.7071079584550953,4.804129566269308e-05],"object_position_m":[-0.10112678164069616,0.4772000197367165,0.42343809965666274],"object_quaternion_wxyz":[0.9999999790636315,-8.25476029418026e-05,0.00014920670214805637,0.0001131193620950682],"object_linear_velocity_m_s":[0.08246801238035409,0.00026442837364248494,0.0027148250352799852],"object_angular_velocity_rad_s":[-0.0017715792764518552,-0.002949905622716539,-0.0050702459764348125],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632413743353993,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08991737400117,"right":46.1066923452847},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.674800675747661,-1.613924853847255,1.3415983239026787,-1.3231035983180117,-1.5708903439185835,-0.1039227932865591,180.0],"actuator_force":[1.276921383689114,-19.366564600842594,-20.566273744728278,-2.4508353048778417,0.0752890971701845,0.17482547691653139,5.0],"issued_joint_targets_rad":[-1.6784580899742214,-1.6049693061607992,1.3523050677999782,-1.3181126051099408,-1.5708939656333392,-0.10757400662132346],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.6784580899742214,-1.6049693061607992,1.3523050677999782,-1.3181126051099408,-1.5708939656333392,-0.10757400662132346],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.040000000000018,"qpos":[-1.6439086761590331,-1.5972559603397607,1.3463910195872972,-1.3200000126831037,-1.5708306649633406,-0.0731071110693706,0.46117974553968094,0.0002889709128351068,0.45827314078749554,-0.45082093367769677,0.4611806483314163,0.000297417281407318,0.4582196939667484,-0.4510937744166337,-0.0994197007176404,0.4771982323002099,0.42349180551268895,0.9999999794504799,-0.00010025807761943169,0.00014255524282695884,0.000103563319676529],"qvel":[-0.17591046418658218,-0.038394809837347006,0.030080671761805546,0.009829078937290084,-0.0010585499425368422,-0.17408428013770114,-5.956628582177646e-05,3.068848025206686e-05,0.00014961389963507964,7.15469284484298e-05,-5.486373383854725e-05,-2.7598880151571955e-05,-0.0002664872299006457,4.103518011357683e-05,0.08246997582974472,0.0002668049919216691,0.002711876534768368,-0.0016063823664584007,-0.002903824747395703,-0.005004937499997456],"joint_position_rad":[-1.6439086761590331,-1.5972559603397607,1.3463910195872972,-1.3200000126831037,-1.5708306649633406,-0.0731071110693706],"joint_velocity_rad_s":[-0.17591046418658218,-0.038394809837347006,0.030080671761805546,0.009829078937290084,-0.0010585499425368422,-0.17408428013770114],"linkage_position_rad":[0.46117974553968094,0.0002889709128351068,0.45827314078749554,-0.45082093367769677,0.4611806483314163,0.000297417281407318,0.4582196939667484,-0.4510937744166337],"tcp_position_m":[-0.09941039756052425,0.47703923849356655,0.42936893028323797],"tcp_quaternion_wxyz":[-9.431337681529125e-06,0.7071086330970767,0.7071049282301752,3.7191817296296846e-05],"object_position_m":[-0.0994197007176404,0.4771982323002099,0.42349180551268895],"object_quaternion_wxyz":[0.9999999794504799,-0.00010025807761943169,0.00014255524282695884,0.000103563319676529],"object_linear_velocity_m_s":[0.08246997582974472,0.0002668049919216691,0.002711876534768368],"object_angular_velocity_rad_s":[-0.0016072075804557937,-0.0029051610239711383,-0.005003896988134493],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324135305139506,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08990525025716,"right":46.10667337072998},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.678452061534447,-1.6146032765316436,1.3421252299448372,-1.322934678131901,-1.5708919474015905,-0.10757400864034598,180.0],"actuator_force":[1.2774149238052814,-19.336708448826812,-20.563847989642454,-2.450240618127623,0.07521377512864547,0.1749792282824174,5.0],"issued_joint_targets_rad":[-1.6821104738263504,-1.6056507280007328,1.35281681902859,-1.3179435428345108,-1.5708953586255794,-0.1112263184388033],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6821104738263504,-1.6056507280007328,1.35281681902859,-1.3179435428345108,-1.5708953586255794,-0.1112263184388033],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.0600000000000245,"qpos":[-1.6475403702611173,-1.5980507187942312,1.3470129113855958,-1.3197956479391897,-1.5708371536164178,-0.07673105037630841,0.4611797631644425,0.00028914248733211985,0.45827331487198825,-0.4508220889080515,0.4611806352875813,0.0002972443291069506,0.4582195293494301,-0.4510925791620428,-0.09771262735718948,0.477196522968299,0.42354562063796425,0.9999999794656925,-0.00011628640743027878,0.00013632421609362436,9.466675867952576e-05],"qvel":[-0.17601562677766402,-0.03781500897363519,0.029525854886181205,0.009647393310520235,-0.0010326153165482281,-0.17422758417644577,-5.8590158370261525e-05,3.0107111472864605e-05,0.00015023378522382674,7.373447019777153e-05,-5.377113641209896e-05,-2.7339159262422095e-05,-0.0002645425353820343,3.825036403314356e-05,0.08247202223211121,0.00026917996523323083,0.002708753646872445,-0.0014591642694937062,-0.0028618956476114585,-0.004943997454018182],"joint_position_rad":[-1.6475403702611173,-1.5980507187942312,1.3470129113855958,-1.3197956479391897,-1.5708371536164178,-0.07673105037630841],"joint_velocity_rad_s":[-0.17601562677766402,-0.03781500897363519,0.029525854886181205,0.009647393310520235,-0.0010326153165482281,-0.17422758417644577],"linkage_position_rad":[0.4611797631644425,0.00028914248733211985,0.45827331487198825,-0.4508220889080515,0.4611806352875813,0.0002972443291069506,0.4582195293494301,-0.4510925791620428],"tcp_position_m":[-0.09770342539891198,0.4770355247577652,0.4294223507848065],"tcp_quaternion_wxyz":[3.416605571305624e-06,0.7071113749214061,0.7071021868834931,2.7380038449577532e-05],"object_position_m":[-0.09771262735718948,0.477196522968299,0.42354562063796425],"object_quaternion_wxyz":[0.9999999794656925,-0.00011628640743027878,0.00013632421609362436,9.466675867952576e-05],"object_linear_velocity_m_s":[0.08247202223211121,0.00026917996523323083,0.002708753646872445],"object_angular_velocity_rad_s":[-0.001459970109885073,-0.002863321708339692,-0.004942933740332323],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632413303705375,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08989263021958,"right":46.10665420545403},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6821045403308643,-1.6152674655287536,1.3426373846532635,-1.3227655124424398,-1.570893396896385,-0.11122632050745695,180.0],"actuator_force":[1.2779105715717378,-19.30748987959032,-20.561395419136716,-2.4496715826770696,0.07513989167125601,0.17512335207030105,5.0],"issued_joint_targets_rad":[-1.6857638458908342,-1.6063176353147965,1.353313838135722,-1.3177742641429995,-1.570896613194946,-0.11487962322225387],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6857638458908342,-1.6063176353147965,1.353313838135722,-1.3177742641429995,-1.570896613194946,-0.11487962322225387],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.080000000000031,"qpos":[-1.6511741267442328,-1.5988333237843977,1.3476228889334991,-1.3195946491505635,-1.570843144639172,-0.08035779067193834,0.46117978068650034,0.0002893072685612195,0.4582734827427256,-0.45082319974920054,0.4611806233116671,0.00029707744955643285,0.4582193717158943,-0.451091426728703,-0.09600556002695529,0.4771948921515785,0.4235995416000193,0.9999999792027536,-0.0001307949020370144,0.00013048376524808992,8.637808383920627e-05],"qvel":[-0.17611542659978793,-0.03722311138184455,0.02895687364101419,0.009483795921708452,-0.0010084827421683775,-0.1743617562056923,-5.7616296549289274e-05,2.953832755747136e-05,0.00015085797179881843,7.58339937037999e-05,-5.2682371524777145e-05,-2.7089230415446157e-05,-0.00026260795869878967,3.554747944352967e-05,0.08247414785777961,0.00027155367635338785,0.002705476029774437,-0.0013274247836734866,-0.0028226343260127316,-0.004887981268788908],"joint_position_rad":[-1.6511741267442328,-1.5988333237843977,1.3476228889334991,-1.3195946491505635,-1.570843144639172,-0.08035779067193834],"joint_velocity_rad_s":[-0.17611542659978793,-0.03722311138184455,0.02895687364101419,0.009483795921708452,-0.0010084827421683775,-0.1743617562056923],"linkage_position_rad":[0.46117978068650034,0.0002893072685612195,0.4582734827427256,-0.45082319974920054,0.4611806233116671,0.00029707744955643285,0.4582193717158943,-0.451091426728703],"tcp_position_m":[-0.09599645376546875,0.4770318802551354,0.42947586696838774],"tcp_quaternion_wxyz":[1.4990460504894607e-05,0.7071138553709833,0.707099706530298,1.8505023536581565e-05],"object_position_m":[-0.09600556002695529,0.4771948921515785,0.4235995416000193],"object_quaternion_wxyz":[0.9999999792027536,-0.0001307949020370144,0.00013048376524808992,8.637808383920627e-05],"object_linear_velocity_m_s":[0.08247414785777961,0.00027155367635338785,0.002705476029774437],"object_angular_velocity_rad_s":[-0.0013282124887666088,-0.0028241422190416103,-0.004886896181630867],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632413064393636,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08987955599539,"right":46.10663486790951},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6857580087068225,-1.615917399632254,1.3431348042982456,-1.3225961410911327,-1.570894706632712,-0.1148796253358426,180.0],"actuator_force":[1.2784067147358655,-19.278907142975186,-20.558918726912452,-2.4491255624553787,0.07506727744680575,0.17525828861709414,5.0],"issued_joint_targets_rad":[-1.6894181031568636,-1.6069700025842033,1.3537961400087075,-1.3176048086040566,-1.570897742136154,-0.11853381772066841],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6894181031568636,-1.6069700025842033,1.3537961400087075,-1.3176048086040566,-1.570897742136154,-0.11853381772066841],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.100000000000038,"qpos":[-1.6548098351797944,-1.5996035436429992,1.348220684640374,-1.3193966766914615,-1.5708486736319216,-0.08398715018570861,0.4611797980818184,0.00028946552324223966,0.45827364461270054,-0.45082426789162244,0.4611806123358899,0.0002969164384910882,0.4582192207795757,-0.45109031560731505,-0.09429849728283118,0.4771933402614462,0.4236535653523264,0.9999999787358218,-0.00014393022058212918,0.0001250064460461767,7.865009357634524e-05],"qvel":[-0.17620989646633808,-0.036620174225315195,0.028375148464249444,0.009336372260827681,-0.0009860370634445536,-0.17448719282075026,-5.6644505416053134e-05,2.898157396734891e-05,0.00015148604693043512,7.784864264369103e-05,-5.159713736270424e-05,-2.6848801482217096e-05,-0.0002606826438611319,3.2924183025148204e-05,0.08247634929197047,0.00027392646017584943,0.002702061536320656,-0.0012096689802093218,-0.0027858160300830454,-0.004836470472864766],"joint_position_rad":[-1.6548098351797944,-1.5996035436429992,1.348220684640374,-1.3193966766914615,-1.5708486736319216,-0.08398715018570861],"joint_velocity_rad_s":[-0.17620989646633808,-0.036620174225315195,0.028375148464249444,0.009336372260827681,-0.0009860370634445536,-0.17448719282075026],"linkage_position_rad":[0.4611797980818184,0.00028946552324223966,0.45827364461270054,-0.45082426789162244,0.4611806123358899,0.0002969164384910882,0.4582192207795757,-0.45109031560731505],"tcp_position_m":[-0.09428948156468007,0.4770283060609916,0.42952947700854144],"tcp_quaternion_wxyz":[2.5412478347925025e-05,0.7071160997333298,0.7070974619827101,1.0475640657886244e-05],"object_position_m":[-0.09429849728283118,0.4771933402614462,0.4236535653523264],"object_quaternion_wxyz":[0.9999999787358218,-0.00014393022058212918,0.0001250064460461767,7.865009357634524e-05],"object_linear_velocity_m_s":[0.08247634929197047,0.00027392646017584943,0.002702061536320656],"object_angular_velocity_rad_s":[-0.0012104396882639274,-0.002787398441416639,-0.004835365789669355],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632412813883833,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08986606520787,"right":46.10661537402821},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6894123635177867,-1.616553057858514,1.3436175041572538,-1.3224266026026947,-1.5708958895008611,-0.11853381987494842,180.0],"actuator_force":[1.2789019105507577,-19.25095874090357,-20.556420351940233,-2.4486001816992484,0.07499577187468276,0.1753844374551221,5.0],"issued_joint_targets_rad":[-1.693073142846758,-1.6076078049059397,1.354263738644571,-1.3174352144185124,-1.5708987570345652,-0.12218879894247157],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.693073142846758,-1.6076078049059397,1.354263738644571,-1.3174352144185124,-1.5708987570345652,-0.12218879894247157],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1200000000000445,"qpos":[-1.6584473857737647,-1.6003611667864037,1.3488060578033314,-1.3192014271436248,-1.570853773897912,-0.08761895469472628,0.4611798153295589,0.00028961750755774983,0.4582738006888639,-0.4508252949633355,0.46118060229722857,0.0002967610968226378,0.4582190762665105,-0.45108924433264025,-0.09259143776101016,0.47719186771026095,0.42370768919898105,0.9999999781234455,-0.00015582488096015066,0.00011986701716278744,7.143958393217497e-05],"qvel":[-0.17629906762403913,-0.036007154848891484,0.027781960101784877,0.009203397540590658,-0.0009651686202307411,-0.17460425380468028,-5.567463256186647e-05,2.8436320966335612e-05,0.0001521175885237807,7.978146746764562e-05,-5.0515179782677555e-05,-2.661757821226875e-05,-0.0002587658093592901,3.0378169931732412e-05,0.08247862340481572,0.00027629860871146894,0.0026985263850201604,-0.0011045459039286558,-0.0027512354699165756,-0.004789084258670288],"joint_position_rad":[-1.6584473857737647,-1.6003611667864037,1.3488060578033314,-1.3192014271436248,-1.570853773897912,-0.08761895469472628],"joint_velocity_rad_s":[-0.17629906762403913,-0.036007154848891484,0.027781960101784877,0.009203397540590658,-0.0009651686202307411,-0.17460425380468028],"linkage_position_rad":[0.4611798153295589,0.00028961750755774983,0.4582738006888639,-0.4508252949633355,0.46118060229722857,0.0002967610968226378,0.4582190762665105,-0.45108924433264025],"tcp_position_m":[-0.09258250775563245,0.4770248031893843,0.4295831793064857],"tcp_quaternion_wxyz":[3.47931765018046e-05,0.7071181308382288,0.7070954304893946,3.209610278972701e-06],"object_position_m":[-0.09259143776101016,0.47719186771026095,0.42370768919898105],"object_quaternion_wxyz":[0.9999999781234455,-0.00015582488096015066,0.00011986701716278744,7.143958393217497e-05],"object_linear_velocity_m_s":[0.08247862340481572,0.00027629860871146894,0.0026985263850201604],"object_angular_velocity_rad_s":[-0.001105300663751453,-0.0027528856825172264,-0.004787961691905911],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324125533567885,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089852191467145,"right":46.10659573751893},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6930675018647896,-1.6171744194567594,1.3440854985721573,-1.3222569342349444,-1.570896957175879,-0.12218880113360783,180.0],"actuator_force":[1.2793948675657703,-19.22364340115473,-20.55390250306209,-2.4480932997188347,0.07492522303959959,0.17550216102724647,5.0],"issued_joint_targets_rad":[-1.6967288623819516,-1.6082310179670376,1.3547166471970018,-1.3172655184737059,-1.5708996683789216,-0.12584446411849662],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6967288623819516,-1.6082310179670376,1.3547166471970018,-1.3172655184737059,-1.5708996683789216,-0.12584446411849662],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.140000000000051,"qpos":[-1.6620866693349192,-1.6011059998204822,1.3493787919592684,-1.319008629700969,-1.570858476557955,-0.09125303682211705,0.4611798324119554,0.0002897634676027453,0.45827395117234854,-0.4508262825324799,0.4611805931372493,0.0002966112307173287,0.4582189379148975,-0.45108821148363876,-0.09088438017075753,0.47719047491147915,0.42376191076277775,0.9999999774115929,-0.00016659862358325275,0.00011504224952424484,6.470698947725626e-05],"qvel":[-0.17638296969505632,-0.03538492035884631,0.027178463160409484,0.009083318268903512,-0.0009457732381257244,-0.17471326548522986,-5.470651952648861e-05,2.7902061955150257e-05,0.00015275221078249,8.163538524518657e-05,-4.9436243507927864e-05,-2.639526687609716e-05,-0.0002568567004928691,2.7907132538240015e-05,0.08248096732389208,0.00027867037572366763,0.0026948853187680056,-0.0010108346923796419,-0.002718705073319368,-0.004745475968827181],"joint_position_rad":[-1.6620866693349192,-1.6011059998204822,1.3493787919592684,-1.319008629700969,-1.570858476557955,-0.09125303682211705],"joint_velocity_rad_s":[-0.17638296969505632,-0.03538492035884631,0.027178463160409484,0.009083318268903512,-0.0009457732381257244,-0.17471326548522986],"linkage_position_rad":[0.4611798324119554,0.0002897634676027453,0.45827395117234854,-0.4508262825324799,0.4611805931372493,0.0002966112307173287,0.4582189379148975,-0.45108821148363876],"tcp_position_m":[-0.09087553134688818,0.4770213725991261,0.42963697247014937],"tcp_quaternion_wxyz":[4.323246472589101e-05,0.7071199692971997,0.7070935915002634,-3.3673538574930095e-06],"object_position_m":[-0.09088438017075753,0.47719047491147915,0.42376191076277775],"object_quaternion_wxyz":[0.9999999774115929,-0.00016659862358325275,0.00011504224952424484,6.470698947725626e-05],"object_linear_velocity_m_s":[0.08248096732389208,0.00027867037572366763,0.0026948853187680056],"object_angular_velocity_rad_s":[-0.0010115744726357542,-0.0027204169271712684,-0.004744337156062878],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632412283880588,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08983796564886,"right":46.1065759709888},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.6967233210592425,-1.6177814639190862,1.3445388010007613,-1.322087172023414,-1.5708979202305176,-0.1258444663430237,180.0],"actuator_force":[1.2798844293756702,-19.196960053669955,-20.55136718117774,-2.4476029881128625,0.07485548753129478,0.17561178806965927,5.0],"issued_joint_targets_rad":[-1.7003851593532866,-1.6088396180220499,1.355154878018612,-1.3170957563921364,-1.5709004856638067,-0.1295007106696306],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.7003851593532866,-1.6088396180220499,1.355154878018612,-1.3170957563921364,-1.5709004856638067,-0.1295007106696306],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.160000000000058,"qpos":[-1.665727577242294,-1.601837865828324,1.3499386924938004,-1.318818042923428,-1.5708628106639342,-0.09488923539947426,0.46117984931415296,0.00028990363977795684,0.4582740962586403,-0.4508272321094975,0.4611805848018984,0.00029646665161368717,0.4582188054746363,-0.4510872156831299,-0.0891773232878658,0.47718916227977737,0.4238162279564114,0.999999976636107,-0.00017635964366628516,0.00011051075277866347,5.841605766799815e-05],"qvel":[-0.1764616306495958,-0.034754256286917244,0.02656569834496305,0.008974735612932412,-0.0009277521723120289,-0.17481452379163548,-5.374001988062131e-05,2.737831086302398e-05,0.00015338954401621882,8.341321073643378e-05,-4.836008992213261e-05,-2.6181575984855357e-05,-0.00025495460393647955,2.5508799279867363e-05,0.08248337840965382,0.00028104198103922896,0.002691151749505926,-0.0009274320326307064,-0.0026880533992211836,-0.004705329916679227],"joint_position_rad":[-1.665727577242294,-1.601837865828324,1.3499386924938004,-1.318818042923428,-1.5708628106639342,-0.09488923539947426],"joint_velocity_rad_s":[-0.1764616306495958,-0.034754256286917244,0.02656569834496305,0.008974735612932412,-0.0009277521723120289,-0.17481452379163548],"linkage_position_rad":[0.46117984931415296,0.00028990363977795684,0.4582740962586403,-0.4508272321094975,0.4611805848018984,0.00029646665161368717,0.4582188054746363,-0.4510872156831299],"tcp_position_m":[-0.08916855139186415,0.47701801519925424,0.4296908552961857],"tcp_quaternion_wxyz":[5.08206632189754e-05,0.7071216337195338,0.7070919264538178,-9.322320515442805e-06],"object_position_m":[-0.0891773232878658,0.47718916227977737,0.4238162279564114],"object_quaternion_wxyz":[0.999999976636107,-0.00017635964366628516,0.00011051075277866347,5.841605766799815e-05],"object_linear_velocity_m_s":[0.08248337840965382,0.00028104198103922896,0.002691151749505926],"object_angular_velocity_rad_s":[-0.0009281577300397412,-0.002689821252684623,-0.004704176413973466],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632412006419675,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089823416164414,"right":46.10655608607491},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.700379718592163,-1.6183741709902595,1.3449774240631864,-1.321917350821215,-1.570898788237921,-0.12950071292441717,180.0],"actuator_force":[1.2803695600996434,-19.170907809103937,-20.54881619921298,-2.4471275101867604,0.07478643023773657,0.17571361669209296,5.0],"issued_joint_targets_rad":[-1.7040419314952677,-1.6094335818733367,1.3555784426988795,-1.3169259625749723,-1.570901217482716,-0.13315743617873432],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.7040419314952677,-1.6094335818733367,1.3555784426988795,-1.3169259625749723,-1.570901217482716,-0.13315743617873432],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.1800000000000646,"qpos":[-1.6693700014123796,-1.6025566028224139,1.3504855844821468,-1.3186294518060189,-1.5708668033103828,-0.09852739488766873,0.4611798660238614,0.00029003825116389866,0.4582742361375658,-0.45082814514895625,0.4611805772411092,0.000296327176211801,0.4582186787066913,-0.45108625559706517,-0.0874702659487321,0.4771879302311655,0.4238706389565092,0.9999999758247059,-0.00018520570469921332,0.00010625281733614179,5.25335534743562e-05],"qvel":[-0.17653507680399277,-0.03411587442557463,0.025944603507241804,0.008876390380761134,-0.0009110120137896394,-0.17490829703823974,-5.2775000419089956e-05,2.68646017433155e-05,0.00015402923283250973,8.51176637918726e-05,-4.7286498049223954e-05,-2.5976217202122946e-05,-0.00025305884799758493,2.31809370361318e-05,0.08248585423280898,0.00028341361455191244,0.0026873378889188918,-0.0008533408269942196,-0.002659123697555572,-0.004668358509456714],"joint_position_rad":[-1.6693700014123796,-1.6025566028224139,1.3504855844821468,-1.3186294518060189,-1.5708668033103828,-0.09852739488766873],"joint_velocity_rad_s":[-0.17653507680399277,-0.03411587442557463,0.025944603507241804,0.008876390380761134,-0.0009110120137896394,-0.17490829703823974],"linkage_position_rad":[0.4611798660238614,0.00029003825116389866,0.4582742361375658,-0.45082814514895625,0.4611805772411092,0.000296327176211801,0.4582186787066913,-0.45108625559706517],"tcp_position_m":[-0.08746156698466352,0.4770147318539822,0.42974482675377595],"tcp_quaternion_wxyz":[5.763942296793504e-05,0.707123140907209,0.7070904185849671,-1.4715841512833571e-05],"object_position_m":[-0.0874702659487321,0.4771879302311655,0.4238706389565092],"object_quaternion_wxyz":[0.9999999758247059,-0.00018520570469921332,0.00010625281733614179,5.25335534743562e-05],"object_linear_velocity_m_s":[0.08248585423280898,0.00028341361455191244,0.0026873378889188918],"object_angular_velocity_rad_s":[-0.000854053273555558,-0.0026609423902503103,-0.0046671917874061865],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632411721844582,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089808569012625,"right":46.106536093364575},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.704036592107465,-1.618952520677231,1.3454013795835378,-1.3217475043345979,-1.5708995698649324,-0.13315743846095104,180.0],"actuator_force":[1.2808493314264524,-19.145485939404352,-20.54625120011451,-2.446665302365659,0.07471792410410671,0.17580791718280864,5.0],"issued_joint_targets_rad":[-1.7076990766639624,-1.6100128868538293,1.3559873520981454,-1.3167561702408934,-1.570901871612582,-0.13681453836648128],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.7076990766639624,-1.6100128868538293,1.3559873520981454,-1.3167561702408934,-1.570901871612582,-0.13681453836648128],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.200000000000071,"qpos":[-1.6730138342665188,-1.6032620623455163,1.3510193107394384,-1.318442665132476,-1.5708704797434978,-0.10216736485080602,0.4611798825310654,0.0002901675198823242,0.4582743709933162,-0.45082902305139816,0.4611805704084661,0.0002961926264513691,0.4582185573825215,-0.4510853299337913,-0.08576320704499708,0.47718677918309393,0.423925142180223,0.9999999749985996,-0.0001932251445598701,0.00010225027055668999,4.702899139976025e-05],"qvel":[-0.1766033328399366,-0.03347041991346291,0.025316023621797964,0.008787149463394017,-0.0008954645654368483,-0.17499482845945655,-5.181133873542195e-05,2.6360487980229912e-05,0.00015467093667487287,8.675136812368382e-05,-4.621526193811107e-05,-2.5778905866984133e-05,-0.0002511687985299441,2.092135441761693e-05,0.08248839255411249,0.0002857854399757424,0.0026834548667704137,-0.0007876599512523184,-0.0026317725991155936,-0.004634299644638266],"joint_position_rad":[-1.6730138342665188,-1.6032620623455163,1.3510193107394384,-1.318442665132476,-1.5708704797434978,-0.10216736485080602],"joint_velocity_rad_s":[-0.1766033328399366,-0.03347041991346291,0.025316023621797964,0.008787149463394017,-0.0008954645654368483,-0.17499482845945655],"linkage_position_rad":[0.4611798825310654,0.0002901675198823242,0.4582743709933162,-0.45082902305139816,0.4611805704084661,0.0002961926264513691,0.4582185573825215,-0.4510853299337913],"tcp_position_m":[-0.0857545772563198,0.477011523387198,0.42979888597003985],"tcp_quaternion_wxyz":[6.376255775619189e-05,0.7071245060307599,0.7070890527513686,-1.960258432431273e-05],"object_position_m":[-0.08576320704499708,0.47718677918309393,0.423925142180223],"object_quaternion_wxyz":[0.9999999749985996,-0.0001932251445598701,0.00010225027055668999,4.702899139976025e-05],"object_linear_velocity_m_s":[0.08248839255411249,0.0002857854399757424,0.0026834548667704137],"object_angular_velocity_rad_s":[-0.0007883599206246037,-0.002633637416497697,-0.0046331210865390654],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463241143094082,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089793448093225,"right":46.106516002590624},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7076938393789816,-1.6195164932583388,1.3458106786272686,-1.3215776651546105,-1.5709002729568569,-0.13681454067357174,180.0],"actuator_force":[1.2813229110493012,-19.120693860259962,-20.543673673058947,-2.446214957406596,0.07464984986404488,0.17589493456279115,5.0],"issued_joint_targets_rad":[-1.711356492818241,-1.6105775108119655,1.3563816163780213,-1.3165864114607118,-1.5709024550905024,-0.14047191507078244],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.711356492818241,-1.6105775108119655,1.3563816163780213,-1.3165864114607118,-1.5709024550905024,-0.14047191507078244],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.220000000000078,"qpos":[-1.6766589686988909,-1.6039541082060478,1.3515397300601024,-1.3182575130857848,-1.5708738634670838,-0.10580899947858521,0.46117989882776417,0.00029029165544563524,0.45827450100449585,-0.45082986716513923,0.46118056426089976,0.00029606282947317535,0.45821844128354605,-0.4510844374432569,-0.0840561455186947,0.47718570955455947,0.42397973626413954,0.9999999741738065,-0.00020049778461070952,9.848634579594405e-05,4.1874392300637057e-05],"qvel":[-0.17666642184099024,-0.032818477642466586,0.02468071979277058,0.00870599359520719,-0.0008810266942454177,-0.1750743385183787,-5.0848922120030295e-05,2.5865541301121992e-05,0.0001553143294890557,8.831685522743515e-05,-4.514618930406751e-05,-2.5589361468589068e-05,-0.00024928385627099036,1.8727903105258425e-05,0.08249099130582017,0.00028815759833893497,0.002679512838059486,-0.0007295750000951654,-0.002605868926386812,-0.004602914353368022],"joint_position_rad":[-1.6766589686988909,-1.6039541082060478,1.3515397300601024,-1.3182575130857848,-1.5708738634670838,-0.10580899947858521],"joint_velocity_rad_s":[-0.17666642184099024,-0.032818477642466586,0.02468071979277058,0.00870599359520719,-0.0008810266942454177,-0.1750743385183787],"linkage_position_rad":[0.46117989882776417,0.00029029165544563524,0.45827450100449585,-0.45082986716513923,0.46118056426089976,0.00029606282947317535,0.45821844128354605,-0.4510844374432569],"tcp_position_m":[-0.08404758137141556,0.47700839058654815,0.42985303221691784],"tcp_quaternion_wxyz":[6.92567963021156e-05,0.7071257427879779,0.7070878152765142,-2.403190332038366e-05],"object_position_m":[-0.0840561455186947,0.47718570955455947,0.42397973626413954],"object_quaternion_wxyz":[0.9999999741738065,-0.00020049778461070952,9.848634579594405e-05,4.1874392300637057e-05],"object_linear_velocity_m_s":[0.08249099130582017,0.00028815759833893497,0.002679512838059486],"object_angular_velocity_rad_s":[-0.0007302632132375445,-0.0026077755661237196,-0.004601725255035733],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324111344168396,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0897780752911,"right":46.10649582261071},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.711351358290913,-1.6200660692921467,1.346205331534629,-1.3214078647852203,-1.5709009046144298,-0.14047191740043694,180.0],"actuator_force":[1.2817895523521656,-19.09653111521129,-20.541084968054747,-2.445775209238491,0.07458209575156616,0.17597489091201624,5.0],"issued_joint_targets_rad":[-1.7150140780040808,-1.6111274320985383,1.3567612450284965,-1.3164167171881538,-1.570902974283382,-0.1441294642294797],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.7150140780040808,-1.6111274320985383,1.3567612450284965,-1.3164167171881538,-1.570902974283382,-0.1441294642294797],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.240000000000085,"qpos":[-1.6803052980453907,-1.6046326153350439,1.352046715627959,-1.3180738450906258,-1.570876976345044,-0.10945215715273708,0.46117991490774596,0.0002904108590920887,0.45827462634418875,-0.4508306787880497,0.4611805587584175,0.0002959376175688509,0.45821833020065383,-0.4510835769161827,-0.08234908035786624,0.47718472176621235,0.4240344200452915,0.9999999733622136,-0.00020709575113789653,9.494556313004606e-05,3.7044062645472055e-05],"qvel":[-0.1767243653431131,-0.03216057805108192,0.024039377385596108,0.008632006304720235,-0.0008676201652473198,-0.1751470270092491,-4.9887646681261395e-05,2.5379351239125447e-05,0.00015595909964625005,8.981656635500595e-05,-4.4079100515603656e-05,-2.5407308234841804e-05,-0.0002474034548811727,1.659848041293106e-05,0.08249364857500364,0.0002905302112775367,0.0026755210801056783,-0.0006783499247938585,-0.0025812926115584326,-0.004573984667161383],"joint_position_rad":[-1.6803052980453907,-1.6046326153350439,1.352046715627959,-1.3180738450906258,-1.570876976345044,-0.10945215715273708],"joint_velocity_rad_s":[-0.1767243653431131,-0.03216057805108192,0.024039377385596108,0.008632006304720235,-0.0008676201652473198,-0.1751470270092491],"linkage_position_rad":[0.46117991490774596,0.0002904108590920887,0.45827462634418875,-0.4508306787880497,0.4611805587584175,0.0002959376175688509,0.45821833020065383,-0.4510835769161827],"tcp_position_m":[-0.0823405785250365,0.4770053342071503,0.429907264899378],"tcp_quaternion_wxyz":[7.41824622058393e-05,0.7071268635471227,0.7070866938079517,-2.8048355591012446e-05],"object_position_m":[-0.08234908035786624,0.47718472176621235,0.4240344200452915],"object_quaternion_wxyz":[0.9999999733622136,-0.00020709575113789653,9.494556313004606e-05,3.7044062645472055e-05],"object_linear_velocity_m_s":[0.08249364857500364,0.0002905302112775367,0.0026755210801056783],"object_angular_velocity_rad_s":[-0.000679027054962225,-0.002583237151759202,-0.0045727862380371305],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632410832911191,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08976247070228,"right":46.10647556153349},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.715009046821411,-1.6206012296259087,1.3465853479505194,-1.3212381336682248,-1.5709014712636982,-0.14412946657961148,180.0],"actuator_force":[1.2822485852047976,-19.07299736129653,-20.538486309117616,-2.4453449192716334,0.07451455719774458,0.17604798748770634,5.0],"issued_joint_targets_rad":[-1.7186717303416785,-1.6116626295552197,1.357126246892049,-1.3162471172871697,-1.5709034349511142,-0.14778708386604425],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.7186717303416785,-1.6116626295552197,1.357126246892049,-1.3162471172871697,-1.5709034349511142,-0.14778708386604425],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.260000000000091,"qpos":[-1.683952716053658,-1.605297468753077,1.3525401535804369,-1.3178915278651788,-1.5708798387001248,-0.11309670005360846,0.4611799307663768,0.0002905253241085074,0.45827474718003053,-0.4508314591692701,0.4611805538638496,0.0002958168281185529,0.4582182239337323,-0.4510827471831837,-0.0806420105925932,0.47718381624046746,0.424089192544071,0.9999999725724374,-0.00021308421757500735,9.161362070238827e-05,3.2514394103160575e-05],"qvel":[-0.17677718339632223,-0.03149720236263188,0.02339261336856301,0.008564363939972858,-0.0008551714617714335,-0.1752130749723371,-4.892741623399729e-05,2.4901524263888654e-05,0.00015660494934163077,9.125285471257644e-05,-4.301382724631866e-05,-2.5232475539763344e-05,-0.0002455270585287299,1.4531030285582024e-05,0.0824963625884534,0.0002929033841287526,0.0026714880804691934,-0.0006333194769010479,-0.002557933713519579,-0.0045473116863603185],"joint_position_rad":[-1.683952716053658,-1.605297468753077,1.3525401535804369,-1.3178915278651788,-1.5708798387001248,-0.11309670005360846],"joint_velocity_rad_s":[-0.17677718339632223,-0.03149720236263188,0.02339261336856301,0.008564363939972858,-0.0008551714617714335,-0.1752130749723371],"linkage_position_rad":[0.4611799307663768,0.0002905253241085074,0.45827474718003053,-0.4508314591692701,0.4611805538638496,0.0002958168281185529,0.4582182239337323,-0.4510827471831837],"tcp_position_m":[-0.08063356794003232,0.4770023549749713,0.4299615835448274],"tcp_quaternion_wxyz":[7.859408862939853e-05,0.7071278794761735,0.7070856771891967,-3.1692166726578596e-05],"object_position_m":[-0.0806420105925932,0.47718381624046746,0.424089192544071],"object_quaternion_wxyz":[0.9999999725724374,-0.00021308421757500735,9.161362070238827e-05,3.2514394103160575e-05],"object_linear_velocity_m_s":[0.0824963625884534,0.0002929033841287526,0.0026714880804691934],"object_angular_velocity_rad_s":[-0.0006339861540798143,-0.0025599125828392826,-0.0045461050515961075],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463241052699914,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08974665273673,"right":46.106455226734425},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.718666803029039,-1.6211219554036402,1.3469507368510856,-1.3210685012052514,-1.5709019787194387,-0.14778708623476808,180.0],"actuator_force":[1.2826994077668132,-19.050092356073492,-20.53587880612804,-2.44492306403356,0.07444713652023438,0.17611440665389466,5.0],"issued_joint_targets_rad":[-1.7223293480151338,-1.6121830825045582,1.357476630185005,-1.3160776405560852,-1.5709038423038968,-0.151444672078],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.7223293480151338,-1.6121830825045582,1.357476630185005,-1.3160776405560852,-1.5709038423038968,-0.151444672078],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.280000000000098,"qpos":[-1.687601116854441,-1.6059485626365875,1.353019941711929,-1.3177104436619234,-1.5708824694087096,-0.11674249380330963,0.46117994640041854,0.000290635236141294,0.45827486367430037,-0.4508322095108956,0.461180549542625,0.0002957003035199368,0.4582181222912331,-0.45108194711388183,-0.07893493529141196,0.4771829934016221,0.42414405294886554,0.9999999718105177,-0.00021852207515318114,8.847729571866578e-05,2.8263681528633425e-05],"qvel":[-0.17682489463505618,-0.03082878732129811,0.022740982940765535,0.00850232666411689,-0.0008436115960491978,-0.1752726464378988,-4.7968141966080356e-05,2.443168311807473e-05,0.00015725159442517243,9.262798967570385e-05,-4.195021200306499e-05,-2.5064598080479496e-05,-0.0002436541602202145,1.2523544726692407e-05,0.08249913169875307,0.0002952772088584812,0.0026674216166372314,-0.0005938823805724024,-0.00253569152427617,-0.004522713830913131],"joint_position_rad":[-1.687601116854441,-1.6059485626365875,1.353019941711929,-1.3177104436619234,-1.5708824694087096,-0.11674249380330963],"joint_velocity_rad_s":[-0.17682489463505618,-0.03082878732129811,0.022740982940765535,0.00850232666411689,-0.0008436115960491978,-0.1752726464378988],"linkage_position_rad":[0.46117994640041854,0.000290635236141294,0.45827486367430037,-0.4508322095108956,0.461180549542625,0.0002957003035199368,0.4582181222912331,-0.45108194711388183],"tcp_position_m":[-0.07892654886455532,0.4769994535899078,0.4300159877936207],"tcp_quaternion_wxyz":[8.254097397503224e-05,0.7071288006594755,0.7070847553440133,-3.4999651399513466e-05],"object_position_m":[-0.07893493529141196,0.4771829934016221,0.42414405294886554],"object_quaternion_wxyz":[0.9999999718105177,-0.00021852207515318114,8.847729571866578e-05,2.8263681528633425e-05],"object_linear_velocity_m_s":[0.08249913169875307,0.0002952772088584812,0.0026674216166372314],"object_angular_velocity_rad_s":[-0.000594539195411634,-0.002537701473883708,-0.004521500034185677],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324102171985536,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08973063832519,"right":46.106434824980965},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7223245250418668,-1.6216282280737895,1.3473015065673155,-1.3208989957771105,-1.5709024322427054,-0.1514446744636127,180.0],"actuator_force":[1.2831414791708085,-19.027815945884868,-20.53326346553331,-2.4445087240052317,0.0743797426069932,0.17617431363834157,5.0],"issued_joint_targets_rad":[-1.7259868292644798,-1.6126887707412618,1.3578124025163723,-1.3159083147488744,-1.5709042010542082,-0.15510212702783888],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.7259868292644798,-1.6126887707412618,1.3578124025163723,-1.3159083147488744,-1.5709042010542082,-0.15510212702783888],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.300000000000105,"qpos":[-1.6912503949344566,-1.6065857994740846,1.3534859883027617,-1.317530488679042,-1.570884885991531,-0.12038940714216194,0.4611799618078604,0.0002907407734948057,0.4582749759840132,-0.45083293096960964,0.4611805457625629,0.0002955878911087188,0.4582180250897611,-0.45108117561597616,-0.07722785355807513,0.4771822536759834,0.4241990006022576,0.9999999710804752,-0.00022346253887605653,8.552435421386786e-05,2.4271957617188216e-05],"qvel":[-0.176867516355073,-0.03015572947391746,0.022084985515677554,0.008445230326942225,-0.0008328759135019922,-0.1753258900145289,-4.700974141054686e-05,2.3969466203590205e-05,0.00015789876394332625,9.394415839194266e-05,-4.088810694091939e-05,-2.49034165528526e-05,-0.00024178428026441136,1.0574065078683293e-05,0.08250195437197846,0.00029765176683132854,0.0026633288282332667,-0.0005594951632167297,-0.0025144737565829752,-0.004500025256619193],"joint_position_rad":[-1.6912503949344566,-1.6065857994740846,1.3534859883027617,-1.317530488679042,-1.570884885991531,-0.12038940714216194],"joint_velocity_rad_s":[-0.176867516355073,-0.03015572947391746,0.022084985515677554,0.008445230326942225,-0.0008328759135019922,-0.1753258900145289],"linkage_position_rad":[0.4611799618078604,0.0002907407734948057,0.4582749759840132,-0.45083293096960964,0.4611805457625629,0.0002955878911087188,0.4582180250897611,-0.45108117561597616],"tcp_position_m":[-0.07721952056984686,0.47699663072859444,0.43007047739056004],"tcp_quaternion_wxyz":[8.606768423305752e-05,0.7071296362030284,0.7070839191718707,-3.8003593137792126e-05],"object_position_m":[-0.07722785355807513,0.4771822536759834,0.4241990006022576],"object_quaternion_wxyz":[0.9999999710804752,-0.00022346253887605653,8.552435421386786e-05,2.4271957617188216e-05],"object_linear_velocity_m_s":[0.08250195437197846,0.00029765176683132854,0.0026633288282332667],"object_angular_velocity_rad_s":[-0.0005601426705353397,-0.0025165118339588984,-0.004498805263468119],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632409903975257,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08971444298363,"right":46.10641436242362},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7259821110489655,-1.6221200293965006,1.347637664805901,-1.320729644760733,-1.5709028365930313,-0.15510212942880186,180.0],"actuator_force":[1.2835743130117407,-19.006168055264425,-20.53064119999226,-2.4441010735397413,0.07431229060011901,0.1762278581329184,5.0],"issued_joint_targets_rad":[-1.7296440723798672,-1.6131796745246048,1.3581335709043774,-1.3157391665938334,-1.570904515463933,-0.1587593469362236],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.7296440723798672,-1.6131796745246048,1.3581335709043774,-1.3157391665938334,-1.570904515463933,-0.1587593469362236],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.320000000000111,"qpos":[-1.6949004451108531,-1.6072090893036053,1.3539382110615568,-1.317351571625843,-1.5708871047002178,-0.12403731163547607,0.4611799769877686,0.0002908421074188356,0.45827508426102304,-0.4508336246582726,0.4611805424936821,0.0002954794430715737,0.45821793215368434,-0.4510804316343066,-0.07552076452862472,0.47718159749200556,0.42425403498863884,0.9999999703847631,-0.00022795369505266072,8.27434687972699e-05,2.0520842654506732e-05],"qvel":[-0.17690506459513397,-0.029478389040913704,0.021425070122876526,0.008392479127173084,-0.0008229038935784213,-0.17537294033586565,-4.605213802325018e-05,2.3514526871978275e-05,0.00015854619978237746,9.520346876931837e-05,-3.982737330026608e-05,-2.474867737602064e-05,-0.00023991696419432406,8.680682150543552e-06,0.08250482917636331,0.0003000271314385704,0.0026592162824702606,-0.0005296665809112884,-0.0024941958049398264,-0.004479094419949487],"joint_position_rad":[-1.6949004451108531,-1.6072090893036053,1.3539382110615568,-1.317351571625843,-1.5708871047002178,-0.12403731163547607],"joint_velocity_rad_s":[-0.17690506459513397,-0.029478389040913704,0.021425070122876526,0.008392479127173084,-0.0008229038935784213,-0.17537294033586565],"linkage_position_rad":[0.4611799769877686,0.0002908421074188356,0.45827508426102304,-0.4508336246582726,0.4611805424936821,0.0002954794430715737,0.45821793215368434,-0.4510804316343066],"tcp_position_m":[-0.07551248234825238,0.47699388704697493,0.4301250521772952],"tcp_quaternion_wxyz":[8.921450710925802e-05,0.7071303943295192,0.7070831604535105,-4.0733587239959376e-05],"object_position_m":[-0.07552076452862472,0.47718159749200556,0.42425403498863884],"object_quaternion_wxyz":[0.9999999703847631,-0.00022795369505266072,8.27434687972699e-05,2.0520842654506732e-05],"object_linear_velocity_m_s":[0.08250482917636331,0.0003000271314385704,0.0026592162824702606],"object_angular_velocity_rad_s":[-0.0005303053028189255,-0.002496259329452904,-0.004477869121474836],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632409587747976,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08969808095581,"right":46.10639384467024},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7296394592941093,-1.6225973414504704,1.3479592186676002,-1.3205604745439246,-1.5709031960757747,-0.15875934935114688,180.0],"actuator_force":[1.2839974715407152,-18.985148677365032,-20.52801283706367,-2.4436993717580435,0.07424470157934593,0.17627517575115803,5.0],"issued_joint_targets_rad":[-1.7333009756977065,-1.6136557745718116,1.3584401417908682,-1.3155702218098708,-1.5709047893870833,-0.16241623007724507],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.7333009756977065,-1.6136557745718116,1.3584401417908682,-1.3155702218098708,-1.5709047893870833,-0.16241623007724507],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.340000000000118,"qpos":[-1.6985511625073488,-1.6078183490236229,1.3543765361699651,-1.317173612427203,-1.5708891405996646,-0.12768608140795354,0.46117999194015324,0.0002909394023839282,0.45827518865212985,-0.4508342916474721,0.4611805397080294,0.0002953748163551136,0.45821784331477317,-0.45107971414989956,-0.07381366736875072,0.4771810252804416,0.42430915572310896,0.999999969724625,-0.00023203899602988355,8.012414364556409e-05,1.6993407941560182e-05],"qvel":[-0.1769375542219117,-0.02879709341560384,0.02076164028425948,0.008343538988734453,-0.0008136389494770625,-0.17541391937815318,-4.5095260367295426e-05,2.3066532828283505e-05,0.00015919365651687238,9.64079512486391e-05,-3.876788039988963e-05,-2.4600133254890824e-05,-0.000238051781484214,6.8415371113976296e-06,0.08250775477198287,0.000302403370614278,0.002655090033538309,-0.0005039525814078789,-0.0024747800736687597,-0.004459782778021725],"joint_position_rad":[-1.6985511625073488,-1.6078183490236229,1.3543765361699651,-1.317173612427203,-1.5708891405996646,-0.12768608140795354],"joint_velocity_rad_s":[-0.1769375542219117,-0.02879709341560384,0.02076164028425948,0.008343538988734453,-0.0008136389494770625,-0.17541391937815318],"linkage_position_rad":[0.46117999194015324,0.0002909394023839282,0.45827518865212985,-0.4508342916474721,0.4611805397080294,0.0002953748163551136,0.45821784331477317,-0.45107971414989956],"tcp_position_m":[-0.07380543351144132,0.4769912231826534,0.4301797120855464],"tcp_quaternion_wxyz":[9.2017862571298e-05,0.7071310824641052,0.7070824717656362,-4.321635040881851e-05],"object_position_m":[-0.07381366736875072,0.4771810252804416,0.42430915572310896],"object_quaternion_wxyz":[0.999999969724625,-0.00023203899602988355,8.012414364556409e-05,1.6993407941560182e-05],"object_linear_velocity_m_s":[0.08250775477198287,0.000302403370614278,0.002655090033538309],"object_angular_velocity_rad_s":[-0.0005045830100913636,-0.0024768666138676476,-0.004458552994807821],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632409268892694,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0896815653063,"right":46.10637327681964},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7332964680714782,-1.6230601466393964,1.3482661746632933,-1.3203915105381148,-1.5709035145850523,-0.16241623250487303,180.0],"actuator_force":[1.2844105605063305,-18.964757865305728,-20.525379127047472,-2.4433029543292832,0.07417690225383922,0.17631638935557703,5.0],"issued_joint_targets_rad":[-1.7369574375985979,-1.6141170520522916,1.3587321210537795,-1.3154015051206427,-1.5709050263085191,-0.16607267477558016],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.7369574375985979,-1.6141170520522916,1.3587321210537795,-1.3154015051206427,-1.5709050263085191,-0.16607267477558016],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.360000000000125,"qpos":[-1.7022024425321054,-1.6084135017703567,1.354800897419802,-1.3169965410535107,-1.5708910076462244,-0.1313355929032481,0.4611800066658487,0.00029103281634784895,0.45827528929919675,-0.45083493296701727,0.4611805373795227,0.0002952738725680871,0.45821775841185425,-0.4510790221790217,-0.072106561271409,0.47718053747450784,0.4243643625415395,0.999999969100385,-0.00023575770720453323,7.765664609409744e-05,1.3674051616881294e-05],"qvel":[-0.17696499901680035,-0.028112140327403817,0.020095058415798315,0.008297931581571036,-0.0008050282287511747,-0.17544893766032046,-4.413904181395356e-05,2.2625165543473235e-05,0.00015984090081763713,9.755956308220146e-05,-3.77095052636394e-05,-2.445754321734893e-05,-0.00023618832428369242,5.054820896294501e-06,0.08251072990148985,0.00030478054922655946,0.0026509556764757348,-0.00048195175274655226,-0.0024561553661791233,-0.004441963610572874],"joint_position_rad":[-1.7022024425321054,-1.6084135017703567,1.354800897419802,-1.3169965410535107,-1.5708910076462244,-0.1313355929032481],"joint_velocity_rad_s":[-0.17696499901680035,-0.028112140327403817,0.020095058415798315,0.008297931581571036,-0.0008050282287511747,-0.17544893766032046],"linkage_position_rad":[0.4611800066658487,0.00029103281634784895,0.45827528929919675,-0.45083493296701727,0.4611805373795227,0.0002952738725680871,0.45821775841185425,-0.4510790221790217],"tcp_position_m":[-0.07209837338881339,0.47698863975705674,0.4302344571310698],"tcp_quaternion_wxyz":[9.45106739884757e-05,0.7071317073118507,0.7070818464038605,-4.5476000331417913e-05],"object_position_m":[-0.072106561271409,0.47718053747450784,0.4243643625415395],"object_quaternion_wxyz":[0.999999969100385,-0.00023575770720453323,7.765664609409744e-05,1.3674051616881294e-05],"object_linear_velocity_m_s":[0.08251072990148985,0.00030478054922655946,0.0026509556764757348],"object_angular_velocity_rad_s":[-0.0004825743529608218,-0.002458262718726234,-0.0044407300967323855],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632408947746702,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08966490804254,"right":46.10635266352675},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7369530357231922,-1.623508427698022,1.3485585387279382,-1.3202227771892927,-1.5709037956426632,-0.16607267721477853,180.0],"actuator_force":[1.2848132245462693,-18.944995724369164,-20.522740750047433,-2.442911226048068,0.07410882465569557,0.17635161026682056,5.0],"issued_joint_targets_rad":[-1.7406133565068933,-1.6145634885825997,1.359009514017793,-1.3152330402667125,-1.5709052293790338,-0.16972857940535402],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.7406133565068933,-1.6145634885825997,1.359009514017793,-1.3152330402667125,-1.5709052293790338,-0.16972857940535402],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.380000000000131,"qpos":[-1.7058541808573557,-1.6089944763550974,1.3552112354335943,-1.3168202964638924,-1.5708927187617923,-0.1349857246664412,0.4611800211664064,0.00029112250100931866,0.45827538633926346,-0.4508355496074013,0.4611805354838069,0.0002951764778808696,0.45821767729048773,-0.4510783547722168,-0.0703994454546716,0.47718013451006525,0.42441965529169523,0.9999999685116744,-0.00023914531092823302,7.533194422072923e-05,1.0548385704981608e-05],"qvel":[-0.17698741176356084,-0.02742380070102103,0.019425649800778065,0.00825522892441055,-0.0007970224163455176,-0.17547809533693115,-4.3183419761496486e-05,2.2190119750068767e-05,0.00016048771146947617,9.866018815498914e-05,-3.665213166934485e-05,-2.432067265920757e-05,-0.0002343262057078208,3.3187743470134984e-06,0.08251375338173954,0.0003071587313922899,0.0026468183960748153,-0.0004633012110924187,-0.002438256328756004,-0.0044255209523113405],"joint_position_rad":[-1.7058541808573557,-1.6089944763550974,1.3552112354335943,-1.3168202964638924,-1.5708927187617923,-0.1349857246664412],"joint_velocity_rad_s":[-0.17698741176356084,-0.02742380070102103,0.019425649800778065,0.00825522892441055,-0.0007970224163455176,-0.17547809533693115],"linkage_position_rad":[0.4611800211664064,0.00029112250100931866,0.45827538633926346,-0.4508355496074013,0.4611805354838069,0.0002951764778808696,0.45821767729048773,-0.4510783547722168],"tcp_position_m":[-0.07039130132607099,0.47698613737742185,0.43028928740830436],"tcp_quaternion_wxyz":[9.672270365634863e-05,0.70713227492763,0.7070812783130965,-4.7534308116720874e-05],"object_position_m":[-0.0703994454546716,0.47718013451006525,0.42441965529169523],"object_quaternion_wxyz":[0.9999999685116744,-0.00023914531092823302,7.533194422072923e-05,1.0548385704981608e-05],"object_linear_velocity_m_s":[0.08251375338173954,0.0003071587313922899,0.0026468183960748153],"object_angular_velocity_rad_s":[-0.00046391642239085285,-0.0024403824989247124,-0.004424284399566005],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632408624612204,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08964812017891,"right":46.106332009016064},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7406090606385154,-1.6239421676977768,1.3488363162325783,-1.320054297987276,-1.5709040424333713,-0.16972858185509818,180.0],"actuator_force":[1.2852051431050313,-18.925862404950294,-20.52009832234353,-2.442523654132856,0.07404040584503946,0.17638093936461985,5.0],"issued_joint_targets_rad":[-1.744268630891744,-1.614995066222027,1.3592723254633408,-1.315064850015916,-1.5709054014471446,-0.17338384239057314],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.744268630891744,-1.614995066222027,1.3592723254633408,-1.315064850015916,-1.5709054014471446,-0.17338384239057314],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.400000000000138,"qpos":[-1.7095062734007949,-1.6095612067557825,1.3556074969604097,-1.3166448256516927,-1.5708942859038417,-0.13863635714738834,0.46118003544399566,0.0002912086020546877,0.4582754799046655,-0.450836142521201,0.4611805339981195,0.00029508250292202326,0.4582175998026582,-0.4510777110133419,-0.06869231915978988,0.47717981682581806,0.4244750339253162,0.999999967957621,-0.00024223387145098669,7.314164988829092e-05,7.603133349917808e-06],"qvel":[-0.17700480433588317,-0.026732321240710396,0.01875370617608782,0.00821504851287838,-0.0007895755414219404,-0.17550148319365322,-4.222833581782211e-05,2.1761102746159017e-05,0.00016113387849248683,9.971164280519061e-05,-3.559565021891933e-05,-2.418929348731256e-05,-0.00023246505926331946,1.6316893617367461e-06,0.0825168240961208,0.0003095379826899471,0.002642683011337281,-0.0004476728846343981,-0.002421022945156257,-0.004410348624793769],"joint_position_rad":[-1.7095062734007949,-1.6095612067557825,1.3556074969604097,-1.3166448256516927,-1.5708942859038417,-0.13863635714738834],"joint_velocity_rad_s":[-0.17700480433588317,-0.026732321240710396,0.01875370617608782,0.00821504851287838,-0.0007895755414219404,-0.17550148319365322],"linkage_position_rad":[0.46118003544399566,0.0002912086020546877,0.4582754799046655,-0.450836142521201,0.4611805339981195,0.00029508250292202326,0.4582175998026582,-0.4510777110133419],"tcp_position_m":[-0.06868421668394559,0.47698371663863276,0.43034420308563504],"tcp_quaternion_wxyz":[9.86808561178312e-05,0.7071327907792367,0.7070807620246901,-4.9410926227537853e-05],"object_position_m":[-0.06869231915978988,0.47717981682581806,0.4244750339253162],"object_quaternion_wxyz":[0.999999967957621,-0.00024223387145098669,7.314164988829092e-05,7.603133349917808e-06],"object_linear_velocity_m_s":[0.0825168240961208,0.0003095379826899471,0.002642683011337281],"object_angular_velocity_rad_s":[-0.00044828112336893413,-0.0024231661288087354,-0.004409109666526275],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632408299759602,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089631211830564,"right":46.10631131712914},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7442644412545774,-1.6243613500520202,1.3490995119945637,-1.319886095473465,-1.5709042578368821,-0.1733838448499375,180.0],"actuator_force":[1.2855860267882235,-18.907358096191274,-20.51745240212722,-2.4421397621739516,0.07397158762205436,0.1764044680907375,5.0],"issued_joint_targets_rad":[-1.7479231592694962,-1.615411767468721,1.359520559634064,-1.3148969561720776,-1.5709055450878913,-0.17703836220697072],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.7479231592694962,-1.615411767468721,1.359520559634064,-1.3148969561720776,-1.5709055450878913,-0.17703836220697072],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.420000000000145,"qpos":[-1.7131586163087178,-1.6101136316575964,1.3559896342396383,-1.316470082782257,-1.5708957201315228,-0.142287372523072,0.46118004950132296,0.0002912912593921311,0.4582755701231595,-0.4508367126244562,0.4611805329011758,0.0002949918226720533,0.4582175258064891,-0.45107709001862606,-0.0669851816494517,0.47717958486353096,0.42453049849107405,0.9999999674369854,-0.0002450523646705457,7.107796674457689e-05,4.826035277626654e-06],"qvel":[-0.17701718778411712,-0.026037926765871165,0.018079488969045956,0.008177048922002052,-0.0007826447889857154,-0.17551918355385754,-4.127373466369798e-05,2.133783404669656e-05,0.00016177920344829152,0.00010071567529214154,-3.453995714919626e-05,-2.4063184118302347e-05,-0.0002306045372248394,-8.093445798136786e-09,0.0825199409875501,0.0003119183723104338,0.0026385540158695895,-0.0004347701564484623,-0.002404400076276185,-0.004396349359028165],"joint_position_rad":[-1.7131586163087178,-1.6101136316575964,1.3559896342396383,-1.316470082782257,-1.5708957201315228,-0.142287372523072],"joint_velocity_rad_s":[-0.17701718778411712,-0.026037926765871165,0.018079488969045956,0.008177048922002052,-0.0007826447889857154,-0.17551918355385754],"linkage_position_rad":[0.46118004950132296,0.0002912912593921311,0.4582755701231595,-0.4508367126244562,0.4611805329011758,0.0002949918226720533,0.4582175258064891,-0.45107709001862606],"tcp_position_m":[-0.06697711883706217,0.47698137812492275,0.43039920440122237],"tcp_quaternion_wxyz":[0.00010040945237680169,0.7071332598043549,0.7070802925996358,-5.1123594283372524e-05],"object_position_m":[-0.0669851816494517,0.47717958486353096,0.42453049849107405],"object_quaternion_wxyz":[0.9999999674369854,-0.0002450523646705457,7.107796674457689e-05,4.826035277626654e-06],"object_linear_velocity_m_s":[0.0825199409875501,0.0003119183723104338,0.0026385540158695895],"object_angular_velocity_rad_s":[-0.0004353718175661735,-0.0024065586432377934,-0.004395108574254926],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324079734305273,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0896141922636,"right":46.1062905913318},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7479190760584769,-1.6247659585208905,1.3493481302861077,-1.3197181912471978,-1.5709044444568208,-0.1770383646751191,180.0],"actuator_force":[1.2859556141288522,-18.889483020239823,-20.514803494679654,-2.441759124670625,0.07390231624947319,0.17642227936219967,5.0],"issued_joint_targets_rad":[-1.751576840207306,-1.6158135752562532,1.3597542202428468,-1.314729379582232,-1.5709056626289215,-0.18069203738512776],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.751576840207306,-1.6158135752562532,1.3597542202428468,-1.314729379582232,-1.5709056626289215,-0.18069203738512776],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.440000000000151,"qpos":[-1.7168111059408915,-1.610651694037881,1.3563576044261028,-1.3162960284140222,-1.570897031667933,-0.1459386545372645,0.4611800633415517,0.0002913706073784471,0.45827565711804213,-0.4508372607979862,0.46118053217305466,0.0002949043163552845,0.4582174551659657,-0.45107649093571706,-0.06527803220621292,0.47717943906826593,0.42458604912832154,0.9999999669482774,-0.0002476269760730626,6.913364273992986e-05,2.2057646293796648e-06],"qvel":[-0.17702457242047137,-0.02534082232172687,0.01740323221863821,0.00814092583686223,-0.0007761903171407586,-0.1755312711042314,-4.031956405967706e-05,2.0920044771064395e-05,0.00016242349872843745,0.00010167396885009431,-3.3484954099388315e-05,-2.3942129513613656e-05,-0.0002287443095328042,-1.6021845160494797e-06,0.08252310305229782,0.00031429997515328454,0.00263443561466764,-0.00042432483068191985,-0.0023883370415972854,-0.004383433999402098],"joint_position_rad":[-1.7168111059408915,-1.610651694037881,1.3563576044261028,-1.3162960284140222,-1.570897031667933,-0.1459386545372645],"joint_velocity_rad_s":[-0.17702457242047137,-0.02534082232172687,0.01740323221863821,0.00814092583686223,-0.0007761903171407586,-0.1755312711042314],"linkage_position_rad":[0.4611800633415517,0.0002913706073784471,0.45827565711804213,-0.4508372607979862,0.46118053217305466,0.0002949043163552845,0.4582174551659657,-0.45107649093571706],"tcp_position_m":[-0.06527000717292852,0.4769791224114515,0.43045429165934435],"tcp_quaternion_wxyz":[0.00010193047779719804,0.7071336864619937,0.7070798655772825,-5.2688324879963976e-05],"object_position_m":[-0.06527803220621292,0.47717943906826593,0.42458604912832154],"object_quaternion_wxyz":[0.9999999669482774,-0.0002476269760730626,6.913364273992986e-05,2.2057646293796648e-06],"object_linear_velocity_m_s":[0.08252310305229782,0.00031429997515328454,0.00263443561466764],"object_angular_velocity_rad_s":[-0.0004249202893413565,-0.0023905095203429145,-0.004382191916629074],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463240764584047,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08959707001164,"right":46.10626983479328},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7515728635906302,-1.6251559772157613,1.349582174841316,-1.3195506059708426,-1.5709046046469874,-0.18069203986130483,180.0],"actuator_force":[1.2863136687110455,-18.872237427070104,-20.512152057029198,-2.441381362096422,0.07383254218677848,0.17643444840297207,5.0],"issued_joint_targets_rad":[-1.7552295723278761,-1.6162004729505575,1.3599733104765168,-1.3145621401424643,-1.5709057561741142,-0.18434476651476897],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.7552295723278761,-1.6162004729505575,1.3599733104765168,-1.3145621401424643,-1.5709057561741142,-0.18434476651476897],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.460000000000158,"qpos":[-1.7204636388571108,-1.6111753407910818,1.356711369070503,-1.3161226287948096,-1.5708982299587004,-0.14959008835595544,0.4611800769682342,0.0002914467750369044,0.4582757410082748,-0.4508377878886716,0.4611805317950989,0.00029481986733126663,0.45821738775067455,-0.451075912942744,-0.06357087013108778,0.4771793798886409,0.42464168606156805,0.9999999664898468,-0.00024998136993710545,6.730192675217604e-05,-2.681506114747776e-07],"qvel":[-0.17702696790232558,-0.024641195086643402,0.016725145211790124,0.008106408469952944,-0.0007701750805375651,-0.17553781364669976,-3.936577438885207e-05,2.0507477278652596e-05,0.0001630665876818332,0.00010258814501675934,-3.24305477179285e-05,-2.3825921298269163e-05,-0.0002268840634088372,-3.152145976831372e-06,0.08252630933419315,0.0003166828738436916,0.0026303317576155958,-0.00041609439154536264,-0.0023727872378704554,-0.004371520781605454],"joint_position_rad":[-1.7204636388571108,-1.6111753407910818,1.356711369070503,-1.3161226287948096,-1.5708982299587004,-0.14959008835595544],"joint_velocity_rad_s":[-0.17702696790232558,-0.024641195086643402,0.016725145211790124,0.008106408469952944,-0.0007701750805375651,-0.17553781364669976],"linkage_position_rad":[0.4611800769682342,0.0002914467750369044,0.4582757410082748,-0.4508377878886716,0.4611805317950989,0.00029481986733126663,0.45821738775067455,-0.451075912942744],"tcp_position_m":[-0.06356288109103549,0.4769769500657867,0.43050946522721445],"tcp_quaternion_wxyz":[0.00010326380621240154,0.7071340747789293,0.707079476929012,-5.411957136099952e-05],"object_position_m":[-0.06357087013108778,0.4771793798886409,0.42464168606156805],"object_quaternion_wxyz":[0.9999999664898468,-0.00024998136993710545,6.730192675217604e-05,-2.681506114747776e-07],"object_linear_velocity_m_s":[0.08252630933419315,0.0003166828738436916,0.0026303317576155958],"object_angular_velocity_rad_s":[-0.00041668400457312135,-0.002374972301439421,-0.004370277882539426],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632407317181298,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0895798528966,"right":46.10624905037079},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7552257024492681,-1.6255313906033133,1.3498016488617846,-1.3193833593737112,-1.5709047405351408,-0.18434476899829233,180.0],"actuator_force":[1.2866599766161926,-18.85562158980565,-20.509498502152837,-2.4410061364461626,0.07376221983349751,0.17644104350152645,5.0],"issued_joint_targets_rad":[-1.758881254315189,-1.6165724443471627,1.360177832999286,-1.3143952568024857,-1.5709058276249734,-0.18799644825010567],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.758881254315189,-1.6165724443471627,1.360177832999286,-1.3143952568024857,-1.5709058276249734,-0.18799644825010567],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.480000000000165,"qpos":[-1.7241161118054067,-1.611684522389875,1.3570508936498091,-1.3159498552259836,-1.5708993237270041,-0.15324156043713413,0.4611800903852529,0.00029151988626604266,0.45827582190860855,-0.4508382947106943,0.46118053174982443,0.00029473836298551123,0.4582173234355607,-0.45107535524739995,-0.061863694742284064,0.47717940777711004,0.4246974095956141,0.9999999660599488,-0.0002521369325715681,6.557652894935075e-05,-2.6053983037636696e-06],"qvel":[-0.17702438331309653,-0.023939216095429497,0.016045414862112257,0.008073256327573258,-0.0007645646605608813,-0.17553887278312763,-3.841231883267251e-05,2.0099884525459816e-05,0.0001637083033695404,0.00010345976483345627,-3.1376649593165126e-05,-2.3714357374306543e-05,-0.0002250235017740948,-4.6594908549650535e-06,0.08252955891957574,0.0003190671607548455,0.0026262461700877664,-0.0004098595267279337,-0.0023577077919820924,-0.004360534677664423],"joint_position_rad":[-1.7241161118054067,-1.611684522389875,1.3570508936498091,-1.3159498552259836,-1.5708993237270041,-0.15324156043713413],"joint_velocity_rad_s":[-0.17702438331309653,-0.023939216095429497,0.016045414862112257,0.008073256327573258,-0.0007645646605608813,-0.17553887278312763],"linkage_position_rad":[0.4611800903852529,0.00029151988626604266,0.45827582190860855,-0.4508382947106943,0.46118053174982443,0.00029473836298551123,0.4582173234355607,-0.45107535524739995],"tcp_position_m":[-0.06185574000206297,0.47697486164928254,0.43056472553222824],"tcp_quaternion_wxyz":[0.00010442740252951239,0.7071344283916298,0.7070791230163939,-5.54303793016259e-05],"object_position_m":[-0.061863694742284064,0.47717940777711004,0.4246974095956141],"object_quaternion_wxyz":[0.9999999660599488,-0.0002521369325715681,6.557652894935075e-05,-2.6053983037636696e-06],"object_linear_velocity_m_s":[0.08252955891957574,0.0003190671607548455,0.0026262461700877664],"object_angular_velocity_rad_s":[-0.0004104436339334228,-0.00235990424504015,-0.004359291400760189],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632406987623429,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08956254808511,"right":46.106228240633236},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7588774912959515,-1.6258921835092153,1.3500065550208515,-1.319216470254896,-1.5709048540445465,-0.1879964507403588,180.0],"actuator_force":[1.2869943441487521,-18.83963580050886,-20.506843202760138,-2.4406331472134752,0.07369130728500295,0.17644212670040815,5.0],"issued_joint_targets_rad":[-1.762531784921151,-1.6169294736686692,1.360367789955029,-1.3142287475690468,-1.570905878699996,-0.19164698131612634],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.762531784921151,-1.6169294736686692,1.360367789955029,-1.3142287475690468,-1.570905878699996,-0.19164698131612634],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.500000000000171,"qpos":[-1.7277684217118443,-1.6121791925789748,1.3573761471427013,-1.3157776834878678,-1.5709003210251906,-0.15689295841364417,0.46118010359676515,0.00029159006004012743,0.45827589992970513,-0.45083878204674116,0.4611805320208355,0.0002946596946191762,0.4582172621006917,-0.4510748170860195,-0.0601565053740684,0.4771795231902674,0.42475322011129063,0.9999999656567993,-0.0002541129920917084,6.395158455824194e-05,-4.814946582209064e-06],"qvel":[-0.17701682724044446,-0.023235041796323522,0.015364207856285374,0.008041256291376513,-0.0007593271024898375,-0.17553450453878444,-3.7459152190244926e-05,1.9697029905040075e-05,0.00016434848976618418,0.00010429033135888032,-3.032317510779057e-05,-2.360724237729016e-05,-0.00022316234295908518,-6.125687205505927e-06,0.08253285093239213,0.00032145293995218175,0.002622182380845126,-0.0004054218896066042,-0.002343059245616927,-0.004350406801354128],"joint_position_rad":[-1.7277684217118443,-1.6121791925789748,1.3573761471427013,-1.3157776834878678,-1.5709003210251906,-0.15689295841364417],"joint_velocity_rad_s":[-0.17701682724044446,-0.023235041796323522,0.015364207856285374,0.008041256291376513,-0.0007593271024898375,-0.17553450453878444],"linkage_position_rad":[0.46118010359676515,0.00029159006004012743,0.45827589992970513,-0.45083878204674116,0.4611805320208355,0.0002946596946191762,0.4582172621006917,-0.4510748170860195],"tcp_position_m":[-0.0601485833271774,0.4769728577183865,0.4306200730596102],"tcp_quaternion_wxyz":[0.00010543750589418584,0.7071347505841123,0.7070788005533999,-5.6632523276956694e-05],"object_position_m":[-0.0601565053740684,0.4771795231902674,0.42475322011129063],"object_quaternion_wxyz":[0.9999999656567993,-0.0002541129920917084,6.395158455824194e-05,-4.814946582209064e-06],"object_linear_velocity_m_s":[0.08253285093239213,0.00032145293995218175,0.002622182380845126],"object_angular_velocity_rad_s":[-0.0004060008149708022,-0.002345266012586411,-0.004349163545184472],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324066573178696,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08954516217647,"right":46.10620740792128},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7625281288620191,-1.626238341121429,1.3501968954666117,-1.3190499564851135,-1.5709049469134881,-0.19164698381255227,180.0],"actuator_force":[1.2873165958276331,-18.824280366378844,-20.504186494693386,-2.440262127760434,0.07361976610013699,0.17643775442439846,5.0],"issued_joint_targets_rad":[-1.7661810629730537,-1.6172715455623983,1.3605431829684411,-1.3140626295082816,-1.5709059109522079,-0.19529626451574061],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.7661810629730537,-1.6172715455623983,1.3605431829684411,-1.3140626295082816,-1.5709059109522079,-0.19529626451574061],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.520000000000178,"qpos":[-1.7314204656718637,-1.6126593080984684,1.357687101645668,-1.3156060933204399,-1.5709012292831284,-0.16054417098793952,0.46118011660715424,0.00029165741060226645,0.45827597517825913,-0.45083925064915437,0.46118053259274555,0.00029458375734031764,0.4582172036310371,-0.45107429772268587,-0.058449301375752626,0.4771797265891766,0.4248091180617492,0.9999999652786107,-0.00025592701699615647,6.242162072783005e-05,-6.90510261756396e-06],"qvel":[-0.1770043078515303,-0.022528815457467658,0.014681672590338438,0.008010219984453724,-0.0007544327598560834,-0.17552475993000455,-3.65062315389986e-05,1.929868656071049e-05,0.00016498700004285505,0.0001050812913790429,-2.9270043901815074e-05,-2.3504387272421123e-05,-0.00022130031960673006,-7.552155296356278e-06,0.08253618453015973,0.0003238403291500778,0.0026181437476456167,-0.0004026020773012847,-0.0023288052666714893,-0.004341073868379216],"joint_position_rad":[-1.7314204656718637,-1.6126593080984684,1.357687101645668,-1.3156060933204399,-1.5709012292831284,-0.16054417098793952],"joint_velocity_rad_s":[-0.1770043078515303,-0.022528815457467658,0.014681672590338438,0.008010219984453724,-0.0007544327598560834,-0.17552475993000455],"linkage_position_rad":[0.46118011660715424,0.00029165741060226645,0.45827597517825913,-0.45083925064915437,0.46118053259274555,0.00029458375734031764,0.4582172036310371,-0.45107429772268587],"tcp_position_m":[-0.05844141049741256,0.47697093882587177,0.4306755083504242],"tcp_quaternion_wxyz":[0.00010630879527730152,0.707135044322124,0.7070785065722673,-5.7736630349123116e-05],"object_position_m":[-0.058449301375752626,0.4771797265891766,0.4248091180617492],"object_quaternion_wxyz":[0.9999999652786107,-0.00025592701699615647,6.242162072783005e-05,-6.90510261756396e-06],"object_linear_velocity_m_s":[0.08253618453015973,0.0003238403291500778,0.0026181437476456167],"object_angular_velocity_rad_s":[-0.0004031761300533428,-0.0023310213808536927,-0.004339830994820789],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632406326397997,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089527701200375,"right":46.10618655431703},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7661775139558722,-1.6265698489931293,1.3503726718237363,-1.318883835007628,-1.5709050207129396,-0.19529626701783603,180.0],"actuator_force":[1.2876265725949452,-18.809555606334925,-20.501528679998955,-2.4398928420393986,0.07354756107997673,0.1764279780521889,5.0],"issued_joint_targets_rad":[-1.7698289873817696,-1.6175986450981648,1.3607040131451436,-1.313896918747052,-1.5709059257850406,-0.1989441967376971],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.7698289873817696,-1.6175986450981648,1.3607040131451436,-1.313896918747052,-1.5709059257850406,-0.1989441967376971],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.540000000000185,"qpos":[-1.7350721409430936,-1.613124828433825,1.3579837320257648,-1.3154350679539235,-1.5709020553534592,-0.16419508783767672,0.46118012942098735,0.0002917220476498554,0.45827604775711994,-0.4508397012410524,0.4611805334511074,0.00029451044995425007,0.4582171479162553,-0.4510737964483507,-0.05674208211078693,0.477180018439725,0.42486510396925986,0.9999999649236279,-0.00025759479558828784,6.0981526216972114e-05,-8.88356622231381e-06],"qvel":[-0.1769868329651469,-0.021820668437263994,0.013997940916269101,0.007979981394361301,-0.0007498541461256592,-0.17550968548102314,-3.555351538798355e-05,1.89046370917074e-05,0.00016562369709564002,0.00010583403739087588,-2.8217179008001935e-05,-2.3405609258106975e-05,-0.00021943717762773487,-8.940270731704371e-06,0.08253955890000282,0.0003262294616415217,0.0026141334806687546,-0.00040123780387410783,-0.002314912387818131,-0.0043324777064674275],"joint_position_rad":[-1.7350721409430936,-1.613124828433825,1.3579837320257648,-1.3154350679539235,-1.5709020553534592,-0.16419508783767672],"joint_velocity_rad_s":[-0.1769868329651469,-0.021820668437263994,0.013997940916269101,0.007979981394361301,-0.0007498541461256592,-0.17550968548102314],"linkage_position_rad":[0.46118012942098735,0.0002917220476498554,0.45827604775711994,-0.4508397012410524,0.4611805334511074,0.00029451044995425007,0.4582171479162553,-0.4510737964483507],"tcp_position_m":[-0.05673422095312856,0.47696910552201355,0.4307310319999251],"tcp_quaternion_wxyz":[0.00010705453917688957,0.7071353122840047,0.7070782383926804,-5.8752291553345454e-05],"object_position_m":[-0.05674208211078693,0.477180018439725,0.42486510396925986],"object_quaternion_wxyz":[0.9999999649236279,-0.00025759479558828784,6.0981526216972114e-05,-8.88356622231381e-06],"object_linear_velocity_m_s":[0.08253955890000282,0.0003262294616415217,0.0026141334806687546],"object_angular_velocity_rad_s":[-0.00040180727946810107,-0.0023171369814356958,-0.004331235543698625],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632405994981276,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08951017071292,"right":46.1061656817152},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7698255454710083,-1.6268866930452401,1.3505338851941804,-1.3187181218383166,-1.5709050768625714,-0.19894419924500717,180.0],"actuator_force":[1.287924130229385,-18.7954618479248,-20.498870029676254,-2.4395250816327234,0.07347466005649039,0.17641284443709537,5.0],"issued_joint_targets_rad":[-1.7734754571506113,-1.6179107577661316,1.3608502810707748,-1.3137316304733728,-1.5709059244666952,-0.2025906769651777],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7734754571506113,-1.6179107577661316,1.3608502810707748,-1.3137316304733728,-1.5709059244666952,-0.2025906769651777],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.5600000000001915,"qpos":[-1.7387233449395794,-1.6135757155899848,1.3582660156064454,-1.3152645936843965,-1.5709028055538947,-0.16784559953117092,0.46118014204298047,0.0002917840765128579,0.45827611776541305,-0.45084013451742233,0.4611805345823501,0.0002944396748558693,0.4582170948504985,-0.45107331257996786,-0.055034846955951185,0.4771803992130057,0.424921178422473,0.999999964590143,-0.0002591305980923901,5.962652365217844e-05,-1.075747878044254e-05],"qvel":[-0.1769644101206392,-0.021110721331662117,0.013313129717273291,0.007950394728109258,-0.0007455657936475907,-0.17548932369441023,-3.4600963810326126e-05,1.851467320456249e-05,0.0001662584531064901,0.00010654991067178502,-2.716450690085901e-05,-2.3310731995287533e-05,-0.00021757267637109807,-1.0291364934481795e-05,0.08254297325512994,0.00032862048822409733,0.002610154664105083,-0.0004011822496128257,-0.0023013497673902445,-0.004324564810043479],"joint_position_rad":[-1.7387233449395794,-1.6135757155899848,1.3582660156064454,-1.3152645936843965,-1.5709028055538947,-0.16784559953117092],"joint_velocity_rad_s":[-0.1769644101206392,-0.021110721331662117,0.013313129717273291,0.007950394728109258,-0.0007455657936475907,-0.17548932369441023],"linkage_position_rad":[0.46118014204298047,0.0002917840765128579,0.45827611776541305,-0.45084013451742233,0.4611805345823501,0.0002944396748558693,0.4582170948504985,-0.45107331257996786],"tcp_position_m":[-0.05502701414353815,0.4769673583557129,0.4307866446562226],"tcp_quaternion_wxyz":[0.00010768673095374835,0.7071355568885547,0.7070779935939207,-5.968816255967625e-05],"object_position_m":[-0.055034846955951185,0.4771803992130057,0.424921178422473],"object_quaternion_wxyz":[0.999999964590143,-0.0002591305980923901,5.962652365217844e-05,-1.075747878044254e-05],"object_linear_velocity_m_s":[0.08254297325512994,0.00032862048822409733,0.002610154664105083],"object_angular_velocity_rad_s":[-0.00040174743061540725,-0.002303582062480567,-0.00432332365535471],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324056631706766,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08949257578128,"right":46.106144791786264},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7734721223947367,-1.6271888595685957,1.3506805361568184,-1.318552832064936,-1.570905116645234,-0.20259067947729137,180.0],"actuator_force":[1.2882091379410667,-18.781999424556943,-20.49621078616383,-2.4391586630806614,0.07340103369517692,0.1763923963808054,5.0],"issued_joint_targets_rad":[-1.7771203713847719,-1.6182078694746846,1.3609819868091095,-1.3135667789359753,-1.5709059081431493,-0.20623560428502205],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.7771203713847719,-1.6182078694746846,1.3609819868091095,-1.3135667789359753,-1.5709059081431493,-0.20623560428502205],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.580000000000198,"qpos":[-1.7423739752273526,-1.6140119338871957,1.358533931883212,-1.3150946594900264,-1.5709034857067103,-0.17149559745183163,0.4611801544779604,0.00029184359832410843,0.4582761852986531,-0.450840551146148,0.46118053597371506,0.0002943713379225485,0.45821704433221694,-0.45107284545964527,-0.05332759530063769,0.477180869385728,0.42497734207411164,0.9999999642765147,-0.0002605473231310087,5.8352144124037696e-05,-1.2533467923437294e-05],"qvel":[-0.17693704664348694,-0.02039908501005696,0.012627342328110715,0.007921332476625109,-0.0007415441199064912,-0.17546371347932835,-3.3648538141794303e-05,1.81285953367139e-05,0.00016689114927869274,0.00010723020177742103,-2.6111957110498933e-05,-2.3219585163674903e-05,-0.00021570658719755444,-1.16067257755525e-05,0.08254642683165571,0.0003310135791418654,0.0026062102760344313,-0.00040230256966616314,-0.0022880889717320843,-0.004317285935911988],"joint_position_rad":[-1.7423739752273526,-1.6140119338871957,1.358533931883212,-1.3150946594900264,-1.5709034857067103,-0.17149559745183163],"joint_velocity_rad_s":[-0.17693704664348694,-0.02039908501005696,0.012627342328110715,0.007921332476625109,-0.0007415441199064912,-0.17546371347932835],"linkage_position_rad":[0.4611801544779604,0.00029184359832410843,0.4582761852986531,-0.450840551146148,0.46118053597371506,0.0002943713379225485,0.45821704433221694,-0.45107284545964527],"tcp_position_m":[-0.05331978952629839,0.4769656978755831,0.43084234701923607],"tcp_quaternion_wxyz":[0.0001082162111848355,0.7071357803201962,0.707077769989728,-6.055205455269475e-05],"object_position_m":[-0.05332759530063769,0.477180869385728,0.42497734207411164],"object_quaternion_wxyz":[0.9999999642765147,-0.0002605473231310087,5.8352144124037696e-05,-1.2533467923437294e-05],"object_linear_velocity_m_s":[0.08254642683165571,0.0003310135791418654,0.0026062102760344313],"object_angular_velocity_rad_s":[-0.00040286372656467013,-0.002290328271826932,-0.004316046058330942],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632405331056082,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0894749210697,"right":46.106123886040905},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7771171438174866,-1.6274763352257116,1.350812624766055,-1.3183879798456417,-1.5709051412200792,-0.20623560680156772,180.0],"actuator_force":[1.2884814771264246,-18.769168673009062,-20.493551165558074,-2.4387934254701804,0.07332665530623217,0.17636667306479126,5.0],"issued_joint_targets_rad":[-1.7807636293012876,-1.618489966548301,1.3610991298992423,-1.3134023774430663,-1.5709058778499236,-0.2098788778974769],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.7807636293012876,-1.618489966548301,1.3610991298992423,-1.3134023774430663,-1.5709058778499236,-0.2098788778974769],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.600000000000205,"qpos":[-1.7460239295212832,-1.6144334497764898,1.3587874622661447,-1.3149252566839564,-1.5709041011755889,-0.1751449737307683,0.4611801667308385,0.00029190071018419893,0.45827625044886383,-0.45084095176902855,0.46118053761320354,0.00029430534840858797,0.4582169962639795,-0.45107239445381675,-0.05162032654621426,0.47718142944065817,0.4250335956390598,0.9999999639811791,-0.00026185663007391506,5.715420391963306e-05,-1.4217688346682393e-05],"qvel":[-0.17690474970750236,-0.019685861550475307,0.01194066981560302,0.007892683668325537,-0.0007377673008945607,-0.1754328905411795,-3.2696200685476104e-05,1.7746212249231322e-05,0.00016752167557312057,0.00010787615275332672,-2.505946185668904e-05,-2.313200461763062e-05,-0.00021383869301182636,-1.2887598779283765e-05,0.08254991888573193,0.000333408926039486,0.0026023032068043087,-0.0004044785465097563,-0.0022751037770362254,-0.004310595735709066],"joint_position_rad":[-1.7460239295212832,-1.6144334497764898,1.3587874622661447,-1.3149252566839564,-1.5709041011755889,-0.1751449737307683],"joint_velocity_rad_s":[-0.17690474970750236,-0.019685861550475307,0.01194066981560302,0.007892683668325537,-0.0007377673008945607,-0.1754328905411795],"linkage_position_rad":[0.4611801667308385,0.00029190071018419893,0.45827625044886383,-0.45084095176902855,0.46118053761320354,0.00029430534840858797,0.4582169962639795,-0.45107239445381675],"tcp_position_m":[-0.05161254656715878,0.47696412463099735,0.430898139839923],"tcp_quaternion_wxyz":[0.0001086527782770914,0.7071359845516969,0.7070775656055905,-6.13510162824625e-05],"object_position_m":[-0.05162032654621426,0.47718142944065817,0.4250335956390598],"object_quaternion_wxyz":[0.9999999639811791,-0.00026185663007391506,5.715420391963306e-05,-1.4217688346682393e-05],"object_linear_velocity_m_s":[0.08254991888573193,0.000333408926039486,0.0026023032068043087],"object_angular_velocity_rad_s":[-0.00040503593844922777,-0.0022773494595663205,-0.004309357378445407],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632404998715506,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08945721082736,"right":46.10610296580012},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7807605089426524,-1.6277491070521712,1.350930150549456,-1.3182235784068033,-1.570905151634434,-0.2098788804181186,180.0],"actuator_force":[1.2887410402622663,-18.756969931172534,-20.490891359619127,-2.4384292282559272,0.07325150066697006,0.1763357104427854,5.0],"issued_joint_targets_rad":[-1.7844051302394648,-1.6187570357253633,1.3612017093518456,-1.313238438360323,-1.5709058345227316,-0.21352039712643817],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.7844051302394648,-1.6187570357253633,1.3612017093518456,-1.313238438360323,-1.5709058345227316,-0.21352039712643817],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6200000000002115,"qpos":[-1.7496731056831396,-1.6148402316728745,1.359026589846662,-1.3147563786002692,-1.570904656899957,-0.17879362118683062,0.46118017880658735,0.00029195550531926104,0.4582763133046935,-0.4508413370027526,0.46118053948952814,0.00029424161884068566,0.45821695055230366,-0.4510719589524404,-0.04991304010546223,0.47718207986709127,0.4250899398928179,0.9999999637026521,-0.0002630690586206494,5.602878319741203e-05,-1.581585911326333e-05],"qvel":[-0.17686752639368974,-0.01897114508363417,0.011253192132635027,0.00786435229355327,-0.0007342151515127725,-0.17539688773618597,-3.1743914499646214e-05,1.7367340649703475e-05,0.0001681499306040032,0.00010848895855315381,-2.400695573951034e-05,-2.304783209872412e-05,-0.00021196878763827273,-1.4135188563818078e-05,0.08255344869091197,0.0003358067439274855,0.002598436276102488,-0.0004076013723354753,-0.002262369987880443,-0.004304452421663334],"joint_position_rad":[-1.7496731056831396,-1.6148402316728745,1.359026589846662,-1.3147563786002692,-1.570904656899957,-0.17879362118683062],"joint_velocity_rad_s":[-0.17686752639368974,-0.01897114508363417,0.011253192132635027,0.00786435229355327,-0.0007342151515127725,-0.17539688773618597],"linkage_position_rad":[0.46118017880658735,0.00029195550531926104,0.4582763133046935,-0.4508413370027526,0.46118053948952814,0.00029424161884068566,0.45821695055230366,-0.4510719589524404],"tcp_position_m":[-0.04990528473965953,0.4769626391731166,0.43095402391976223],"tcp_quaternion_wxyz":[0.00010900528846915598,0.7071361713646869,0.7070773786582312,-6.209140814131572e-05],"object_position_m":[-0.04991304010546223,0.47718207986709127,0.4250899398928179],"object_quaternion_wxyz":[0.9999999637026521,-0.0002630690586206494,5.602878319741203e-05,-1.581585911326333e-05],"object_linear_velocity_m_s":[0.08255344869091197,0.0003358067439274855,0.002598436276102488],"object_angular_velocity_rad_s":[-0.0004081552477919879,-0.002264621497247539,-0.0043032158043792654],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324046662161646,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08943944898645,"right":46.10608203227365},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7844021170969127,-1.628007162457628,1.3510331125044104,-1.3180596400401472,-1.570905148834548,-0.2135203996508721,180.0],"actuator_force":[1.2889877299294312,-18.745403536053345,-20.488231537557567,-2.4380659492942414,0.07317554785572611,0.17629954159785655,5.0],"issued_joint_targets_rad":[-1.7880447736717078,-1.6190090641558799,1.3612897236445265,-1.3130749731081706,-1.5709057790071128,-0.21716006143011585],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.7880447736717078,-1.6190090641558799,1.3612897236445265,-1.3130749731081706,-1.5709057790071128,-0.21716006143011585],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.640000000000218,"qpos":[-1.7533214017207883,-1.6152322498045177,1.3592512991861052,-1.3145880203097737,-1.5709051574269606,-0.18244143327341336,0.46118019071020905,0.0002920080732329958,0.45827637395151793,-0.4508417074398275,0.4611805415920583,0.0002941800649159646,0.4582169071074842,-0.4510715383681847,-0.04820573540208169,0.4771828211613557,0.42514637567030306,0.9999999634395358,-0.0002641941368484135,5.4972206436088115e-05,-1.733329776620193e-05],"qvel":[-0.17682538374573253,-0.01825502255453455,0.010564979157855106,0.007836255883231145,-0.0007308690127467806,-0.1753557353939426,-3.079164406653927e-05,1.6991804991195847e-05,0.00016877582087152787,0.00010906977138541248,-2.2954376399710883e-05,-2.2966915254144534e-05,-0.00021009667596676865,-1.5350658669381184e-05,0.0825570155356948,0.0003382072732146184,0.002594612248876073,-0.0004115725490593677,-0.0022498652732299575,-0.00429881746293498],"joint_position_rad":[-1.7533214017207883,-1.6152322498045177,1.3592512991861052,-1.3145880203097737,-1.5709051574269606,-0.18244143327341336],"joint_velocity_rad_s":[-0.17682538374573253,-0.01825502255453455,0.010564979157855106,0.007836255883231145,-0.0007308690127467806,-0.1753557353939426],"linkage_position_rad":[0.46118019071020905,0.0002920080732329958,0.45827637395151793,-0.4508417074398275,0.4611805415920583,0.0002941800649159646,0.4582169071074842,-0.4510715383681847],"tcp_position_m":[-0.04819800352488149,0.4769612420558933,0.4310100001104803],"tcp_quaternion_wxyz":[0.00010928174624016837,0.7071363423681858,0.7070772075370866,-6.277896904478952e-05],"object_position_m":[-0.04820573540208169,0.4771828211613557,0.42514637567030306],"object_quaternion_wxyz":[0.9999999634395358,-0.0002641941368484135,5.4972206436088115e-05,-1.733329776620193e-05],"object_linear_velocity_m_s":[0.0825570155356948,0.0003382072732146184,0.002594612248876073],"object_angular_velocity_rad_s":[-0.0004121231464564029,-0.002252122114492915,-0.00429758278384803],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632404333615533,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089421639098134,"right":46.10606108648308},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7880418677409617,-1.628250489226402,1.3511215090938558,-1.3178961760992647,-1.5709051336753235,-0.21716006395806714,180.0],"actuator_force":[1.2892214579460415,-18.734469821954917,-20.485571847640585,-2.437703483068617,0.07309877709326429,0.17625819706738355,5.0],"issued_joint_targets_rad":[-1.7916824592146938,-1.619246039399082,1.3613631707162936,-1.312911992158369,-1.5709057120671517,-0.22079777041205723],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7916824592146938,-1.619246039399082,1.3613631707162936,-1.312911992158369,-1.5709057120671517,-0.22079777041205723],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.660000000000225,"qpos":[-1.7569687157884741,-1.615609476076356,1.3594615761239848,-1.3144201783627047,-1.5709056069412148,-0.1860883040314111,0.46118020244672553,0.00029205849985140754,0.458276432471559,-0.4508420636494968,0.46118054391078617,0.0002941206054009798,0.4582168658434432,-0.4510711321356884,-0.04649841187025999,0.477183653827354,0.42520290386496734,0.999999963190519,-0.00026524047883901323,5.398102449763358e-05,-1.877495153630438e-05],"qvel":[-0.17677832882212416,-0.01753757440947692,0.009876091632046554,0.007808324226869647,-0.0007277116454822275,-0.17530946161071265,-2.9839353575643105e-05,1.6619437093335665e-05,0.0001693992615918884,0.00010961969743905061,-2.1901662710519744e-05,-2.2889107513353354e-05,-0.00020822217206033436,-1.6535134361100618e-05,0.08256061872149198,0.0003406107817507192,0.0025908338501832743,-0.0004163028943096507,-0.0022375690148640796,-0.004293655308953926],"joint_position_rad":[-1.7569687157884741,-1.615609476076356,1.3594615761239848,-1.3144201783627047,-1.5709056069412148,-0.1860883040314111],"joint_velocity_rad_s":[-0.17677832882212416,-0.01753757440947692,0.009876091632046554,0.007808324226869647,-0.0007277116454822275,-0.17530946161071265],"linkage_position_rad":[0.46118020244672553,0.00029205849985140754,0.458276432471559,-0.4508420636494968,0.46118054391078617,0.0002941206054009798,0.4582168658434432,-0.4510711321356884],"tcp_position_m":[-0.046490702411233584,0.47695993383706786,0.43106606931400515],"tcp_quaternion_wxyz":[0.00010948938604625878,0.7071364990153344,0.7070770507875757,-6.341887681049711e-05],"object_position_m":[-0.04649841187025999,0.477183653827354,0.42520290386496734],"object_quaternion_wxyz":[0.999999963190519,-0.00026524047883901323,5.398102449763358e-05,-1.877495153630438e-05],"object_linear_velocity_m_s":[0.08256061872149198,0.0003406107817507192,0.0025908338501832743],"object_angular_velocity_rad_s":[-0.0004168504425832274,-0.002239830747988664,-0.0042924227467808175],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324040009622404,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08940378441613,"right":46.106040129329166},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7916796604805978,-1.6284790755176861,1.3511953382410782,-1.3177331969955048,-1.5709051069291193,-0.22079777294327718,180.0],"actuator_force":[1.2894421446026172,-18.724169118869668,-20.482912418631713,-2.43734173908706,0.07302117059600732,0.17621170513822904,5.0],"issued_joint_targets_rad":[-1.795318086640859,-1.619467949420857,1.361422047961132,-1.3127495050299385,-1.5709056343933607,-0.22443342383249715],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.795318086640859,-1.619467949420857,1.361422047961132,-1.3127495050299385,-1.5709056343933607,-0.22443342383249715],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.6800000000002315,"qpos":[-1.7606149461881009,-1.6159718839467099,1.3596574076039232,-1.3142528505556854,-1.5709060092924605,-0.18973412804776607,0.4611802140211557,0.0002921068676638906,0.458276488943987,-0.45084240617860466,0.46118054643628226,0.0002940631620328165,0.45821682667757646,-0.4510707397107866,-0.044791068954295,0.47718457837713807,0.4252595254282195,0.9999999629543783,-0.0002662158728879743,5.305199816608848e-05,-2.014542590724566e-05],"qvel":[-0.17672636874510125,-0.016818875215549863,0.00918658200099908,0.007780498216422755,-0.0007247271306481786,-0.1752580925161296,-2.8887008303291705e-05,1.6250075805192874e-05,0.00017002017543377073,0.00011013980335538911,-2.0848756101831293e-05,-2.281426777337424e-05,-0.00020634509990103106,-1.768970227094793e-05,0.08256425756046264,0.0003430175669501185,0.0025871037792310524,-0.00042171164333119595,-0.0022254621708715614,-0.004288933138126338],"joint_position_rad":[-1.7606149461881009,-1.6159718839467099,1.3596574076039232,-1.3142528505556854,-1.5709060092924605,-0.18973412804776607],"joint_velocity_rad_s":[-0.17672636874510125,-0.016818875215549863,0.00918658200099908,0.007780498216422755,-0.0007247271306481786,-0.1752580925161296],"linkage_position_rad":[0.4611802140211557,0.0002921068676638906,0.458276488943987,-0.45084240617860466,0.46118054643628226,0.0002940631620328165,0.45821682667757646,-0.4510707397107866],"tcp_position_m":[-0.04478338089428615,0.4769587150791543,0.4311222324826382],"tcp_quaternion_wxyz":[0.00010963474621491314,0.7071366426185023,0.7070769070959898,-6.401580267222119e-05],"object_position_m":[-0.044791068954295,0.47718457837713807,0.4252595254282195],"object_quaternion_wxyz":[0.9999999629543783,-0.0002662158728879743,5.305199816608848e-05,-2.014542590724566e-05],"object_linear_velocity_m_s":[0.08256425756046264,0.0003430175669501185,0.0025871037792310524],"object_angular_velocity_rad_s":[-0.00042225636244910207,-0.0022277284054976437,-0.004287702853875248],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632403668296849,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08938588792868,"right":46.10601916161099},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.795315395078129,-1.628692909865334,1.3512545973235908,-1.3175707121932718,-1.5709050692937165,-0.2244334263667606,180.0],"actuator_force":[1.289649717984048,-18.714501751028365,-20.48025336106457,-2.436980640435536,0.072942712436884,0.17616009211567984,5.0],"issued_joint_targets_rad":[-1.7989515558901248,-1.6196747825909874,1.3614663522206858,-1.3125875202844437,-1.5709055466098156,-0.2280669216199651],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.7989515558901248,-1.6196747825909874,1.3614663522206858,-1.3125875202844437,-1.5709055466098156,-0.2280669216199651],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.700000000000238,"qpos":[-1.7642599913714592,-1.6163194483156251,1.359838781515516,-1.3140860357205695,-1.5709063680212587,-0.19337880041909847,0.46118022543850246,0.0002921532558569701,0.45827654344502533,-0.45084273555244514,0.46118054915966017,0.00029400765942316895,0.45821678953061235,-0.45107036056979194,-0.04308370610827248,0.47718559533152494,0.425316241369131,0.9999999627299716,-0.0002671273612086425,5.2182083031232676e-05,-2.1449010779803513e-05],"qvel":[-0.17666951074628343,-0.01609899421901464,0.008496495173852658,0.007752728803865759,-0.0007219007755116288,-0.1752016525155213,-2.793457385014003e-05,1.5883566787606503e-05,0.00017063849270576654,0.00011063111507808319,-1.9795599698036573e-05,-2.2742260594910028e-05,-0.00020446529229785698,-1.881541152974341e-05,0.08256793137384096,0.0003454279579661087,0.0025834247226001104,-0.0004277256376418964,-0.0022135271498392606,-0.0042846206287710025],"joint_position_rad":[-1.7642599913714592,-1.6163194483156251,1.359838781515516,-1.3140860357205695,-1.5709063680212587,-0.19337880041909847],"joint_velocity_rad_s":[-0.17666951074628343,-0.01609899421901464,0.008496495173852658,0.007752728803865759,-0.0007219007755116288,-0.1752016525155213],"linkage_position_rad":[0.46118022543850246,0.0002921532558569701,0.45827654344502533,-0.45084273555244514,0.46118054915966017,0.00029400765942316895,0.45821678953061235,-0.45107036056979194],"tcp_position_m":[-0.04307603847663583,0.4769575863504301,0.4311784906194369],"tcp_quaternion_wxyz":[0.00010972373575319821,0.7071367743629319,0.7070767752758486,-6.45739604941108e-05],"object_position_m":[-0.04308370610827248,0.47718559533152494,0.425316241369131],"object_quaternion_wxyz":[0.9999999627299716,-0.0002671273612086425,5.2182083031232676e-05,-2.1449010779803513e-05],"object_linear_velocity_m_s":[0.08256793137384096,0.0003454279579661087,0.0025834247226001104],"object_angular_velocity_rad_s":[-0.0004282677390815833,-0.002215797540522034,-0.004283392767391317],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632403335652666,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08936795232892,"right":46.10599818398271},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.7989489714640305,-1.6288919811772342,1.3512992831660917,-1.3174087302047426,-1.5709050213995308,-0.22806692415706814,180.0],"actuator_force":[1.2898441133702363,-18.705468035612284,-20.47759476838928,-2.436620122473073,0.07286338841504403,0.17610338256729108,5.0],"issued_joint_targets_rad":[-1.8025827670818448,-1.619866527680163,1.3614960797760343,-1.3124260455206518,-1.570905449280604,-0.23169816388311876],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.8025827670818448,-1.619866527680163,1.3614960797760343,-1.3124260455206518,-1.570905449280604,-0.23169816388311876],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.720000000000245,"qpos":[-1.7679037499433305,-1.6166521454237759,1.3600056865505137,-1.3139197335330077,-1.5709066863828443,-0.19702221671995393,0.4611802367037393,0.00029219774044403026,0.45827659604805293,-0.4508430522755687,0.46118055207254277,0.0002939540249621303,0.4582167543264732,-0.45106999420878174,-0.0413763227957895,0.4771867052207521,0.42537305275441273,0.9999999625162397,-0.00026798131194658606,5.136841559792294e-05,-2.2689704440919208e-05],"qvel":[-0.17660776220924027,-0.015377995848379242,0.007805869204873456,0.007724976061493647,-0.0007192190257835603,-0.17514016451005868,-2.698201559117791e-05,1.5519762115437027e-05,0.00017125415161791315,0.00011109461988121886,-1.8742137797764536e-05,-2.2672955832703543e-05,-0.00020258259043491052,-1.9913277031194724e-05,0.08257163949018957,0.0003478423179458606,0.0025797993668515875,-0.0004342785916691361,-0.0022017476967003844,-0.004280689750549262],"joint_position_rad":[-1.7679037499433305,-1.6166521454237759,1.3600056865505137,-1.3139197335330077,-1.5709066863828443,-0.19702221671995393],"joint_velocity_rad_s":[-0.17660776220924027,-0.015377995848379242,0.007805869204873456,0.007724976061493647,-0.0007192190257835603,-0.17514016451005868],"linkage_position_rad":[0.4611802367037393,0.00029219774044403026,0.45827659604805293,-0.4508430522755687,0.46118055207254277,0.0002939540249621303,0.4582167543264732,-0.45106999420878174],"tcp_position_m":[-0.04136867466780699,0.47695654822592937,0.4312348447788014],"tcp_quaternion_wxyz":[0.00010976169474608985,0.7071368953190577,0.7070766542555723,-6.509715120077184e-05],"object_position_m":[-0.0413763227957895,0.4771867052207521,0.42537305275441273],"object_quaternion_wxyz":[0.9999999625162397,-0.00026798131194658606,5.136841559792294e-05,-2.2689704440919208e-05],"object_linear_velocity_m_s":[0.08257163949018957,0.0003478423179458606,0.0025797993668515875],"object_angular_velocity_rad_s":[-0.0004348182788583937,-0.0022040219385856155,-0.0042794644424471],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632403003056363,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089349980102156,"right":46.10597719703263},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8025802897488248,-1.629076278734254,1.3513293920324936,-1.317247258584015,-1.5709049638161319,-0.23169816642287655,180.0],"actuator_force":[1.2900252727076804,-18.69706828160497,-20.47493671798975,-2.4362601316529435,0.07278318593455424,0.17604159954456122,5.0],"issued_joint_targets_rad":[-1.8062116205269165,-1.62004317385673,1.3615112263385512,-1.3122650873685682,-1.570905342915662,-0.2353270509227596],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.8062116205269165,-1.62004317385673,1.3615112263385512,-1.3122650873685682,-1.570905342915662,-0.2353270509227596],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.740000000000252,"qpos":[-1.7715461206654117,-1.6169699527608823,1.3601581120718593,-1.3137539443387845,-1.5709069673692557,-0.20066427297524375,0.4611802478217971,0.00029224039438858785,0.4582766468236996,-0.4508433568325681,0.4611805551670289,0.00029390218872791477,0.4582167209921467,-0.4510696401428963,-0.03966891848972206,0.47718790858517707,0.42542996070865197,0.9999999623122011,-0.0002687834842511557,5.060830051870505e-05,-2.3871235542779243e-05],"qvel":[-0.17654113070897712,-0.014655940167352728,0.0071147359059406156,0.007697208335103148,-0.0007166693833511589,-0.17507365009664833,-2.602929972143422e-05,1.515852019166812e-05,0.00017186709698941858,0.00011153126783717604,-1.7688316787954837e-05,-2.2606228532577455e-05,-0.00020069684359245473,-2.0984275627256663e-05,0.0825753812440379,0.0003502610463873791,0.0025762304106112513,-0.0004413104305286561,-0.0021901087874828928,-0.0042771145745985105],"joint_position_rad":[-1.7715461206654117,-1.6169699527608823,1.3601581120718593,-1.3137539443387845,-1.5709069673692557,-0.20066427297524375],"joint_velocity_rad_s":[-0.17654113070897712,-0.014655940167352728,0.0071147359059406156,0.007697208335103148,-0.0007166693833511589,-0.17507365009664833],"linkage_position_rad":[0.4611802478217971,0.00029224039438858785,0.4582766468236996,-0.4508433568325681,0.4611805551670289,0.00029390218872791477,0.4582167209921467,-0.4510696401428963],"tcp_position_m":[-0.03966128898417844,0.4769556012884492,0.43129129606725647],"tcp_quaternion_wxyz":[0.00010975344896234495,0.7071370064536368,0.7070765430673528,-6.558880288844508e-05],"object_position_m":[-0.03966891848972206,0.47718790858517707,0.42542996070865197],"object_quaternion_wxyz":[0.9999999623122011,-0.0002687834842511557,5.060830051870505e-05,-2.3871235542779243e-05],"object_linear_velocity_m_s":[0.0825753812440379,0.0003502610463873791,0.0025762304106112513],"object_angular_velocity_rad_s":[-0.00044184789925274674,-0.002192386612379247,-0.004275891937026988],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632402670528619,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08933197345567,"right":46.10595620119959},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8062092502351366,-1.62924579218874,1.3513449196170109,-1.3170863039206802,-1.570904897058147,-0.23532705346500454,180.0],"actuator_force":[1.2901931441410852,-18.689302788774512,-20.472279272073138,-2.4359006244580996,0.07270209388957483,0.17597476478444207,5.0],"issued_joint_targets_rad":[-1.8098380167400259,-1.6202047106831503,1.3615117870398132,-1.3121046514828523,-1.5709052279760496,-0.2389534832439873],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.8098380167400259,-1.6202047106831503,1.3615117870398132,-1.3121046514828523,-1.5709052279760496,-0.2389534832439873],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.760000000000258,"qpos":[-1.7751870024609855,-1.6172728489826833,1.3602960479942714,-1.3135886689961653,-1.5709072137298514,-0.20430486563649009,0.4611802587975582,0.00029228128772466563,0.458276695839947,-0.45084364968883167,0.4611805584356675,0.0002938520833943911,0.45821668945756,-0.45106929790568373,-0.03796149267203291,0.47718920597602105,0.4254869664147986,0.9999999621169479,-0.00026953908707153646,4.98991988486503e-05,-2.499708326199197e-05],"qvel":[-0.17646962404849628,-0.013932883282452858,0.00642312139621502,0.007669401481142445,-0.0007142403293108037,-0.1750021297493039,-2.507639182591739e-05,1.4799705244129993e-05,0.0001724772813276457,0.00011194197365659624,-1.663408369010639e-05,-2.254195891682834e-05,-0.00019880790851293403,-2.2029353254762453e-05,0.08257915597428914,0.00035268458157336,0.0025727205761987533,-0.00044876669128839894,-0.002178596534906444,-0.0042738711004192634],"joint_position_rad":[-1.7751870024609855,-1.6172728489826833,1.3602960479942714,-1.3135886689961653,-1.5709072137298514,-0.20430486563649009],"joint_velocity_rad_s":[-0.17646962404849628,-0.013932883282452858,0.00642312139621502,0.007669401481142445,-0.0007142403293108037,-0.1750021297493039],"linkage_position_rad":[0.4611802587975582,0.00029228128772466563,0.458276695839947,-0.45084364968883167,0.4611805584356675,0.0002938520833943911,0.45821668945756,-0.45106929790568373],"tcp_position_m":[-0.03795388094894697,0.4769547461295707,0.43134784564443074],"tcp_quaternion_wxyz":[0.00010970335922495698,0.7071371086397918,0.7070764408370994,-6.605200704103815e-05],"object_position_m":[-0.03796149267203291,0.47718920597602105,0.4254869664147986],"object_quaternion_wxyz":[0.9999999621169479,-0.00026953908707153646,4.98991988486503e-05,-2.499708326199197e-05],"object_linear_velocity_m_s":[0.08257915597428914,0.00035268458157336,0.0025727205761987533],"object_angular_velocity_rad_s":[-0.00044930213006697146,-0.002180877707720698,-0.004272651238750889],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632402338084654,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089313934438216,"right":46.10593519688398},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.809835753429886,-1.6294005115625618,1.3513458610342786,-1.3169258718328227,-1.5709048215905976,-0.23895348578856732,180.0],"actuator_force":[1.2903476815977228,-18.682171846775873,-20.469622478471592,-2.4355415664429074,0.07262010255806217,0.17590289889177768,5.0],"issued_joint_targets_rad":[-1.813461856451977,-1.6203511281121343,1.3614977564205453,-1.3119447425356268,-1.5709051048787208,-0.24257736156845033],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.813461856451977,-1.6203511281121343,1.3614977564205453,-1.3119447425356268,-1.5709051048787208,-0.24257736156845033],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.780000000000265,"qpos":[-1.778826294420299,-1.6175608138356115,1.360419484675174,-1.313423908732666,-1.5709074279903197,-0.20794389156152093,0.46118026963584563,0.0002923204876703928,0.45827674316221945,-0.45084393129127,0.46118056187142864,0.0002938036441442311,0.4582166596554611,-0.4510689670484365,-0.03625404483361702,0.47719059795616264,0.4255440711148947,0.9999999619296422,-0.00027025283228494817,4.9238717233730204e-05,-2.6070495805498453e-05],"qvel":[-0.1763932502924163,-0.013208877709479466,0.005731046594904165,0.007641538179715637,-0.0007119212520648952,-0.1749256229835831,-2.4123257613293164e-05,1.4443187348788446e-05,0.00017308466398864423,0.00011232761746741209,-1.5579386865325915e-05,-2.2480032234534478e-05,-0.00019691564933510346,-2.3049421790815968e-05,0.0825829630231119,0.0003551134031501448,0.002569272620955827,-0.00045659798225032865,-0.002167198099938059,-0.004270937098094519],"joint_position_rad":[-1.778826294420299,-1.6175608138356115,1.360419484675174,-1.313423908732666,-1.5709074279903197,-0.20794389156152093],"joint_velocity_rad_s":[-0.1763932502924163,-0.013208877709479466,0.005731046594904165,0.007641538179715637,-0.0007119212520648952,-0.1749256229835831],"linkage_position_rad":[0.46118026963584563,0.0002923204876703928,0.45827674316221945,-0.45084393129127,0.46118056187142864,0.0002938036441442311,0.4582166596554611,-0.4510689670484365],"tcp_position_m":[-0.03624645009210842,0.47695398335070605,0.43140449472422626],"tcp_quaternion_wxyz":[0.00010961536604291858,0.7071372026660896,0.7070763467753591,-6.648955121954796e-05],"object_position_m":[-0.03625404483361702,0.47719059795616264,0.4255440711148947],"object_quaternion_wxyz":[0.9999999619296422,-0.00027025283228494817,4.9238717233730204e-05,-2.6070495805498453e-05],"object_linear_velocity_m_s":[0.0825829630231119,0.0003551134031501448,0.002569272620955827],"object_angular_velocity_rad_s":[-0.0004571315726869403,-0.002169482415441745,-0.004269720106985014],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324020057347114,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08929586484915,"right":46.105914184349324},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8134597000565695,-1.6295404272446858,1.3513322108084902,-1.3167659669594538,-1.570904737833729,-0.24257736411522726,180.0],"actuator_force":[1.2904888444254539,-18.6756757343569,-20.466966371329818,-2.435182931365489,0.07253720350183812,0.17582602150514504,5.0],"issued_joint_targets_rad":[-1.8170830406220893,-1.6204824164824148,1.361469128418541,-1.311785364208641,-1.570904974000838,-0.24619858684666873],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.8170830406220893,-1.6204824164824148,1.361469128418541,-1.311785364208641,-1.570904974000838,-0.24619858684666873],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.800000000000272,"qpos":[-1.7824638958065715,-1.6178338280883753,1.360528412814891,-1.3132596650147927,-1.5709076124702837,-0.21158124799729175,0.46118028034141806,0.00029235805873864003,0.4582767888534758,-0.4508442020690186,0.46118056546768055,0.00029375680858333153,0.4582166315213059,-0.4510686471395663,-0.03454657447418081,0.47719208510098216,0.4256012761110418,0.999999961749511,-0.00027092898270047463,4.862459795578501e-05,-2.7094507399473147e-05],"qvel":[-0.17631201779788683,-0.012483972702718622,0.005038527662310605,0.007613607316364544,-0.0007097023801966768,-0.17484414850559335,-2.3169863102620097e-05,1.4088841968470945e-05,0.00017368921051865737,0.00011268904716152609,-1.452417612684153e-05,-2.242033839037439e-05,-0.000195019936886097,-2.404535995743077e-05,0.08258680173471164,0.0003575480348029191,0.0025658893483280986,-0.0004647594941425356,-0.002155901612718667,-0.004268291964176231],"joint_position_rad":[-1.7824638958065715,-1.6178338280883753,1.360528412814891,-1.3132596650147927,-1.5709076124702837,-0.21158124799729175],"joint_velocity_rad_s":[-0.17631201779788683,-0.012483972702718622,0.005038527662310605,0.007613607316364544,-0.0007097023801966768,-0.17484414850559335],"linkage_position_rad":[0.46118028034141806,0.00029235805873864003,0.4582767888534758,-0.4508442020690186,0.46118056546768055,0.00029375680858333153,0.4582166315213059,-0.4510686471395663],"tcp_position_m":[-0.0345389959504682,0.4769533135641707,0.4314612445761785],"tcp_quaternion_wxyz":[0.00010949302996751231,0.707137289244734,0.7070762601691184,-6.690394857930653e-05],"object_position_m":[-0.03454657447418081,0.47719208510098216,0.4256012761110418],"object_quaternion_wxyz":[0.999999961749511,-0.00027092898270047463,4.862459795578501e-05,-2.7094507399473147e-05],"object_linear_velocity_m_s":[0.08258680173471164,0.0003575480348029191,0.0025658893483280986],"object_angular_velocity_rad_s":[-0.00046529141124944243,-0.0021581888926170503,-0.004267077928626556],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324016734845604,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0892777663342,"right":46.10589316380846},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8170809910676156,-1.629665529988254,1.3513039628614933,-1.3166065929523338,-1.5709046461673764,-0.24619858939551695,180.0],"actuator_force":[1.2906165970671282,-18.669814718670295,-20.464310971719442,-2.4348247004070345,0.07245338947336677,0.17574415144672173,5.0],"issued_joint_targets_rad":[-1.8207014704506062,-1.6205985665141294,1.361425896355541,-1.311626519184808,-1.5709048356836701,-0.24981706027037892],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.8207014704506062,-1.6205985665141294,1.361425896355541,-1.311626519184808,-1.5709048356836701,-0.24981706027037892],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.820000000000278,"qpos":[-1.7860997060625905,-1.6180918734697525,1.3606228233651165,-1.3130959394294561,-1.5709077692995952,-0.21521683256553636,0.46118029091896123,0.00029239406284208095,0.4582768329742947,-0.450844462434108,0.4611805692181629,0.0002937115166559743,0.458216604993145,-0.4510683377639796,-0.03283908110215439,0.4771936679992613,0.4256585827666018,0.9999999615758433,-0.0002715713954397848,4.805470975674392e-05,-2.807195390801369e-05],"qvel":[-0.17622593524275457,-0.011758214550337584,0.004345576393970308,0.007585603425918169,-0.0007075747198812049,-0.17475772434682027,-2.2216173000036648e-05,1.3736549812151826e-05,0.0001742908940420094,0.00011302707738873737,-1.346840108546627e-05,-2.2362772369144926e-05,-0.000193120648121462,-2.5018018650795687e-05,0.08259067145423096,0.0003599890471138299,0.002562573618772136,-0.0004732105586446425,-0.0021446960991262872,-0.004265916590648903],"joint_position_rad":[-1.7860997060625905,-1.6180918734697525,1.3606228233651165,-1.3130959394294561,-1.5709077692995952,-0.21521683256553636],"joint_velocity_rad_s":[-0.17622593524275457,-0.011758214550337584,0.004345576393970308,0.007585603425918169,-0.0007075747198812049,-0.17475772434682027],"linkage_position_rad":[0.46118029091896123,0.00029239406284208095,0.4582768329742947,-0.450844462434108,0.4611805692181629,0.0002937115166559743,0.458216604993145,-0.4510683377639796],"tcp_position_m":[-0.03283151806767372,0.4769527373942899,0.43151809652701234],"tcp_quaternion_wxyz":[0.00010933956807467171,0.7071373690189661,0.7070761803743949,-6.729746451254147e-05],"object_position_m":[-0.03283908110215439,0.4771936679992613,0.4256585827666018],"object_quaternion_wxyz":[0.9999999615758433,-0.0002715713954397848,4.805470975674392e-05,-2.807195390801369e-05],"object_linear_velocity_m_s":[0.08259067145423096,0.0003599890471138299,0.002562573618772136],"object_angular_velocity_rad_s":[-0.0004737409711452049,-0.002146986189403332,-0.004264705586973575],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324013413358386,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089259640352424,"right":46.10587213538345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.820699527656755,-1.6297758109071547,1.3512611104998316,-1.316447752467204,-1.570904546934914,-0.24981706282118407,180.0],"actuator_force":[1.29073090877273,-18.66458905466925,-20.461656288157883,-2.4344668614658076,0.07236865432867035,0.17565730685818437,5.0],"issued_joint_targets_rad":[-1.824317047391099,-1.6206995693037745,1.361368052922989,-1.3114682091390635,-1.5709046902361181,-0.25343268328487817],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.824317047391099,-1.6206995693037745,1.361368052922989,-1.3114682091390635,-1.5709046902361181,-0.25343268328487817],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.840000000000285,"qpos":[-1.7897336248178388,-1.6183349326119396,1.36070270744477,-1.3129327335758727,-1.5709079004334037,-0.2188505432509768,0.4611803013730877,0.0002924285593953319,0.45827687558296537,-0.4508447127821152,0.46118057311697025,0.0002936677105652612,0.4582165800115253,-0.4510680385225014,-0.031131564234633695,0.4771953472541405,0.42571599250763137,0.9999999614079849,-0.0002721835611339209,4.752703937730801e-05,-2.9005487187172675e-05],"qvel":[-0.17613501165114365,-0.011031646839084457,0.003652200572040709,0.007557526192746762,-0.0007055299965816491,-0.17466636798602964,-2.1262152661064475e-05,1.3386196557006198e-05,0.00017488969318605116,0.00011334249343576158,-1.2412013033760915e-05,-2.230723335934341e-05,-0.00019121766617712806,-2.5968215469929973e-05,0.08259457152679656,0.00036243706055088734,0.002559328360674148,-0.00048191424934138495,-0.0021335714140122745,-0.004263793244798415],"joint_position_rad":[-1.7897336248178388,-1.6183349326119396,1.36070270744477,-1.3129327335758727,-1.5709079004334037,-0.2188505432509768],"joint_velocity_rad_s":[-0.17613501165114365,-0.011031646839084457,0.003652200572040709,0.007557526192746762,-0.0007055299965816491,-0.17466636798602964],"linkage_position_rad":[0.4611803013730877,0.0002924285593953319,0.45827687558296537,-0.4508447127821152,0.46118057311697025,0.0002936677105652612,0.4582165800115253,-0.4510680385225014],"tcp_position_m":[-0.031124015994266667,0.4769522554785447,0.4315750519623909],"tcp_quaternion_wxyz":[0.00010915788695007896,0.7071374425697506,0.7070761068095494,-6.767214070455013e-05],"object_position_m":[-0.031131564234633695,0.4771953472541405,0.42571599250763137],"object_quaternion_wxyz":[0.9999999614079849,-0.0002721835611339209,4.752703937730801e-05,-2.9005487187172675e-05],"object_linear_velocity_m_s":[0.08259457152679656,0.00036243706055088734,0.002559328360674148],"object_angular_velocity_rad_s":[-0.00048244331995211183,-0.0021358641825268334,-0.004262585341506931],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632401009286463,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08924148820841,"right":46.10585109913204},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8243152112713903,-1.6298712614720552,1.3512036464006478,-1.3162894471543685,-1.5709044404468286,-0.25343268583753603,180.0],"actuator_force":[1.2908317533542686,-18.659998984597678,-20.459002317060367,-2.434109408522545,0.07228299294570206,0.17556550532334825,5.0],"issued_joint_targets_rad":[-1.8279296731628256,-1.6207854163186937,1.3612955901666266,-1.3113104347285427,-1.5709045379378994,-0.257045357601332],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.8279296731628256,-1.6207854163186937,1.3612955901666266,-1.3113104347285427,-1.5709045379378994,-0.257045357601332],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.860000000000292,"qpos":[-1.7933655518960994,-1.6185629889988773,1.3607680562624151,-1.3127700489668856,-1.5709080076660915,-0.22248227839184342,0.4611803117083291,0.0002924616054123384,0.4582769167355652,-0.4508449534927952,0.46118057715852795,0.0002936253346923958,0.45821655651938525,-0.4510677490312764,-0.029424023397348974,0.47719712348413934,0.42577350682455006,0.9999999612453354,-0.0002727686393451279,4.703968375248637e-05,-2.989758829234599e-05],"qvel":[-0.1760392564165038,-0.010304310691116944,0.0029584042778204485,0.007529380001978139,-0.000703560600756562,-0.17457009645931199,-2.0307766394282513e-05,1.303767278232517e-05,0.0001754855935930393,0.00011363605088536121,-1.1354963239946014e-05,-2.2253625359093738e-05,-0.00018931087982292802,-2.689674158224081e-05,0.08259850129656515,0.0003648927486528483,0.0025561565812224915,-0.000490837021081944,-0.002122518179999203,-0.0042619054597774],"joint_position_rad":[-1.7933655518960994,-1.6185629889988773,1.3607680562624151,-1.3127700489668856,-1.5709080076660915,-0.22248227839184342],"joint_velocity_rad_s":[-0.1760392564165038,-0.010304310691116944,0.0029584042778204485,0.007529380001978139,-0.000703560600756562,-0.17457009645931199],"linkage_position_rad":[0.4611803117083291,0.0002924616054123384,0.4582769167355652,-0.4508449534927952,0.46118057715852795,0.0002936253346923958,0.45821655651938525,-0.4510677490312764],"tcp_position_m":[-0.029416489287755847,0.47695186846876336,0.4316321123288627],"tcp_quaternion_wxyz":[0.00010895061251260313,0.7071375104218105,0.7070760389492425,-6.802981684845237e-05],"object_position_m":[-0.029424023397348974,0.47719712348413934,0.42577350682455006],"object_quaternion_wxyz":[0.9999999612453354,-0.0002727686393451279,4.703968375248637e-05,-2.989758829234599e-05],"object_linear_velocity_m_s":[0.08259850129656515,0.0003648927486528483,0.0025561565812224915],"object_angular_velocity_rad_s":[-0.000491364906776107,-0.002124813514310189,-0.004260700718375541],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632400677330924,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089223311040385,"right":46.10583005502725},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8279279436249232,-1.6299518735058751,1.3511315625964189,-1.3161316776486205,-1.5709043269839449,-0.2570453601557474,180.0],"actuator_force":[1.2909191089534033,-18.656044737548655,-20.45634904312101,-2.433752341065201,0.07219640114897174,0.17546876397921096,5.0],"issued_joint_targets_rad":[-1.8315392497630147,-1.6208560993910626,1.3612084994698448,-1.3111531955820306,-1.5709043790424264,-0.2606549852090119],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.8315392497630147,-1.6208560993910626,1.3612084994698448,-1.3111531955820306,-1.5709043790424264,-0.2606549852090119],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.880000000000298,"qpos":[-1.7969953873234839,-1.618776026919017,1.3608188610445004,-1.31260788693873,-1.5709080926441508,-0.22611193667247786,0.46118032192913566,0.0002924932555997726,0.45827695648604355,-0.45084518493067305,0.46118058133757633,0.00029358433552118137,0.4582165344619615,-0.4510674689212319,-0.02771645812466239,0.4771989973242445,0.42583112727404326,0.9999999610873417,-0.0002733294905783119,4.6590842799060514e-05,-3.075057963717968e-05],"qvel":[-0.17593867932225685,-0.009576244975491966,0.002264188168726665,0.007501173537041934,-0.0007016595373555553,-0.1744689264592559,-1.9352978024635414e-05,1.2690873474466973e-05,0.0001760785867409082,0.00011390847694509616,-1.029720348317088e-05,-2.220185657861322e-05,-0.0001874001828483441,-2.7804359316706014e-05,0.08260246010579238,0.00036735684141707355,0.0025530613774510736,-0.0004999483842768114,-0.0021115277317520957,-0.004260237934758331],"joint_position_rad":[-1.7969953873234839,-1.618776026919017,1.3608188610445004,-1.31260788693873,-1.5709080926441508,-0.22611193667247786],"joint_velocity_rad_s":[-0.17593867932225685,-0.009576244975491966,0.002264188168726665,0.007501173537041934,-0.0007016595373555553,-0.1744689264592559],"linkage_position_rad":[0.46118032192913566,0.0002924932555997726,0.45827695648604355,-0.45084518493067305,0.46118058133757633,0.00029358433552118137,0.4582165344619615,-0.4510674689212319],"tcp_position_m":[-0.02770893751271223,0.47695157703236274,0.431689279136012],"tcp_quaternion_wxyz":[0.00010872011697722736,0.7071375730490782,0.7070759763189837,-6.837215025153765e-05],"object_position_m":[-0.02771645812466239,0.4771989973242445,0.42583112727404326],"object_quaternion_wxyz":[0.9999999610873417,-0.0002733294905783119,4.6590842799060514e-05,-3.075057963717968e-05],"object_linear_velocity_m_s":[0.08260246010579238,0.00036735684141707355,0.0025530613774510736],"object_angular_velocity_rad_s":[-0.0005004752365312842,-0.0021138255371521667,-0.004259036410475424],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632400345460618,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0892051098582,"right":46.10580900299182},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8315376267090107,-1.6300176391786683,1.3510448504584345,-1.3159744435584688,-1.5709042068003454,-0.26065498776509793,180.0],"actuator_force":[1.2909929578486299,-18.65272652910562,-20.45369643962249,-2.433395663573606,0.07210887563826418,0.1753670996155563,5.0],"issued_joint_targets_rad":[-1.8351456794790373,-1.620911610711329,1.3611067715357181,-1.3109964902886495,-1.5709042137794085,-0.26426146838742126],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.8351456794790373,-1.620911610711329,1.3611067715357181,-1.3109964902886495,-1.5709042137794085,-0.26426146838742126],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.900000000000305,"qpos":[-1.8006230313368454,-1.6189740314220524,1.3608551129687407,-1.3124462485683637,-1.5709081568780747,-0.22973941711780835,0.4611803320398712,0.0002925235624472511,0.45827699488629664,-0.45084540744562734,0.46118058564915043,0.00029354466156277745,0.4582165137866948,-0.45106719783752114,-0.026008867959590218,0.47720096942706713,0.425888855481206,0.9999999609334979,-0.00027386870520868596,4.617881275612943e-05,-3.156663619280506e-05],"qvel":[-0.17583329056002844,-0.008847486496562683,0.0015695497227854523,0.007472919419238764,-0.0006998203789008362,-0.1743628744240988,-1.8397750959219695e-05,1.234569816212243e-05,0.00017666867022989935,0.00011416047210132871,-9.238686022829585e-06,-2.2151839462370587e-05,-0.00018548547417860346,-2.869180360425909e-05,0.08260644729407837,0.0003698301289025706,0.0025500459474780035,-0.0005092206102732014,-0.0021005920639871212,-0.004258776443271901],"joint_position_rad":[-1.8006230313368454,-1.6189740314220524,1.3608551129687407,-1.3124462485683637,-1.5709081568780747,-0.22973941711780835],"joint_velocity_rad_s":[-0.17583329056002844,-0.008847486496562683,0.0015695497227854523,0.007472919419238764,-0.0006998203789008362,-0.1743628744240988],"linkage_position_rad":[0.4611803320398712,0.0002925235624472511,0.45827699488629664,-0.45084540744562734,0.46118058564915043,0.00029354466156277745,0.4582165137866948,-0.45106719783752114],"tcp_position_m":[-0.026001360240879706,0.47695138185364727,0.43174655395882433],"tcp_quaternion_wxyz":[0.00010846854323201888,0.7071376308796189,0.707075918490198,-6.87006335319588e-05],"object_position_m":[-0.026008867959590218,0.47720096942706713,0.425888855481206],"object_quaternion_wxyz":[0.9999999609334979,-0.00027386870520868596,4.617881275612943e-05,-3.156663619280506e-05],"object_linear_velocity_m_s":[0.08260644729407837,0.0003698301289025706,0.0025500459474780035],"object_angular_velocity_rad_s":[-0.0005097465752999782,-0.002102892261725883,-0.004257578185720574],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324000136640814,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08918688551496,"right":46.105787942863884},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8351441628057126,-1.6300685510018857,1.3509435006789499,-1.3158177434546199,-1.5709040801260101,-0.2642614709450981,180.0],"actuator_force":[1.2910532862770197,-18.650044561041796,-20.451044468695727,-2.433039385051984,0.07202041392247338,0.17526052876502263,5.0],"issued_joint_targets_rad":[-1.8387488649004464,-1.6209519428210637,1.3609903963676262,-1.3108403163857312,-1.5709040423572005,-0.26786470971829945],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.8387488649004464,-1.6209519428210637,1.3609903963676262,-1.3108403163857312,-1.5709040423572005,-0.26786470971829945],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.920000000000312,"qpos":[-1.8042483843925234,-1.6191569882791603,1.36087680310201,-1.3122851345975564,-1.57090820175334,-0.23336461908950742,0.461180342044815,0.00029255257631377824,0.4582770319862453,-0.45084562137345385,0.4611805900885673,0.0002935062632834276,0.4582164944431454,-0.4510669354390129,-0.024301252453847753,0.4772030404640796,0.42594669314193273,0.9999999607833386,-0.0002743886296262931,4.5801980027013695e-05,-3.2347795807289974e-05],"qvel":[-0.17572310074561842,-0.008118070161351234,0.0008744834533228812,0.007444633885550879,-0.0006980372218701115,-0.1742519566177669,-1.7442047601315268e-05,1.2002050410333383e-05,0.00017725584768742123,0.00011439271004428243,-8.179363009076226e-06,-2.2103490580210124e-05,-0.00018356665678776257,-2.9559783929320017e-05,0.0826104621975835,0.00037231346508593725,0.0025471136020174608,-0.0005186284652265894,-0.002089703784976456,-0.0042575077496981506],"joint_position_rad":[-1.8042483843925234,-1.6191569882791603,1.36087680310201,-1.3122851345975564,-1.57090820175334,-0.23336461908950742],"joint_velocity_rad_s":[-0.17572310074561842,-0.008118070161351234,0.0008744834533228812,0.007444633885550879,-0.0006980372218701115,-0.1742519566177669],"linkage_position_rad":[0.461180342044815,0.00029255257631377824,0.4582770319862453,-0.45084562137345385,0.4611805900885673,0.0002935062632834276,0.4582164944431454,-0.4510669354390129],"tcp_position_m":[-0.02429375705130249,0.47695128363517186,0.43180393844026654],"tcp_quaternion_wxyz":[0.0001081978268800454,0.7071376843000785,0.7070758650757778,-6.90166105972083e-05],"object_position_m":[-0.024301252453847753,0.4772030404640796,0.42594669314193273],"object_quaternion_wxyz":[0.9999999607833386,-0.0002743886296262931,4.5801980027013695e-05,-3.2347795807289974e-05],"object_linear_velocity_m_s":[0.0826104621975835,0.00037231346508593725,0.0025471136020174608],"object_angular_velocity_rad_s":[-0.0005191536841904155,-0.0020920063106561605,-0.0042563128034713744],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632399681927251,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089168638746976,"right":46.10576687443088},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.838747454499508,-1.6301046018219776,1.350827503251919,-1.3156615748576679,-1.5709039471691997,-0.267864712277494,180.0],"actuator_force":[1.2911000842782414,-18.647999021094165,-20.448393081510858,-2.4326835186108156,0.07193101425718851,0.17514906778339423,5.0],"issued_joint_targets_rad":[-1.8423487089308455,-1.6209770886051704,1.360859363248364,-1.3106846703458228,-1.5709038649649243,-0.2714646120974585],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.8423487089308455,-1.6209770886051704,1.360859363248364,-1.3106846703458228,-1.5709038649649243,-0.2714646120974585],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.940000000000318,"qpos":[-1.8078713471753707,-1.6193248839463612,1.360883922342174,-1.3121245453630122,-1.5709082285405374,-0.23698744228365468,0.4611803519481565,0.0002925803455110067,0.45827706783390537,-0.4508458270363923,0.461180594651407,0.0002934690930344868,0.4582164763829053,-0.45106668139777284,-0.022593611167918647,0.4772052111269326,0.4260046420255616,0.9999999606364377,-0.00027489138986726166,4.5458815478171146e-05,-3.309596872592463e-05],"qvel":[-0.17560812093275283,-0.007388029127701682,0.00017898109622694353,0.00741633650126774,-0.0006963046462459998,-0.17413618920146404,-1.6485829793363886e-05,1.1659837786138562e-05,0.00017784012831044673,0.00011460584072822883,-7.119186891044316e-06,-2.2056730609962805e-05,-0.000181643638318725,-3.0408983709725888e-05,0.08261450414822995,0.0003748077719936161,0.002544267776312921,-0.000528148969650083,-0.0020788560732416246,-0.004256419532844969],"joint_position_rad":[-1.8078713471753707,-1.6193248839463612,1.360883922342174,-1.3121245453630122,-1.5709082285405374,-0.23698744228365468],"joint_velocity_rad_s":[-0.17560812093275283,-0.007388029127701682,0.00017898109622694353,0.00741633650126774,-0.0006963046462459998,-0.17413618920146404],"linkage_position_rad":[0.4611803519481565,0.0002925803455110067,0.45827706783390537,-0.4508458270363923,0.461180594651407,0.0002934690930344868,0.4582164763829053,-0.45106668139777284],"tcp_position_m":[-0.022586127530474204,0.47695128309917684,0.43186143429410007],"tcp_quaternion_wxyz":[0.00010790971616537333,0.7071377336596979,0.7070758157260629,-6.932129106746201e-05],"object_position_m":[-0.022593611167918647,0.4772052111269326,0.4260046420255616],"object_quaternion_wxyz":[0.9999999606364377,-0.00027489138986726166,4.5458815478171146e-05,-3.309596872592463e-05],"object_linear_velocity_m_s":[0.08261450414822995,0.0003748077719936161,0.002544267776312921],"object_angular_velocity_rad_s":[-0.0005286735788733591,-0.0020811608753696716,-0.004255227938055963],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323993502336624,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089150370140885,"right":46.105745797392466},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8423474046891437,-1.6301257848132962,1.3506968474522094,-1.3155059342249342,-1.5709038081186084,-0.2714646146581034,180.0],"actuator_force":[1.2911333455549538,-18.64659008278886,-20.445742218420037,-2.432328081087803,0.07184067558910101,0.17503273292203403,5.0],"issued_joint_targets_rad":[-1.8459451147995507,-1.6209870412834113,1.3607136607176216,-1.3105295475627572,-1.570903681774386,-0.27506107874641267],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.8459451147995507,-1.6209870412834113,1.3607136607176216,-1.3105295475627572,-1.570903681774386,-0.27506107874641267],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.960000000000325,"qpos":[-1.8114918206080244,-1.6194777055306213,1.360876461363334,-1.3119644807318533,-1.5709082384047208,-0.24060778672974115,0.4611803617540009,0.0002926069163820545,0.4582771024754609,-0.45084602474366026,0.4611805993335044,0.000293433104983799,0.458216459559522,-0.45106643539859115,-0.020885943671146684,0.4772074821288636,0.4260627039777825,0.9999999604924037,-0.00027537891297250804,4.514786916393155e-05,-3.381294637445712e-05],"qvel":[-0.17548836262464385,-0.006657394934856117,-0.0005169682281550162,0.007388049904413333,-0.0006946176779574687,-0.1740155882974425,-1.5529057911005804e-05,1.1318971699392138e-05,0.00017842152763340106,0.00011480048824337712,-6.05810944715301e-06,-2.2011483994056943e-05,-0.00017971632947753218,-3.124006345590412e-05,0.0826185724730078,0.00037731404412793613,0.0025415120425239,-0.0005377611807846873,-0.0020680426377787404,-0.004255500315859054],"joint_position_rad":[-1.8114918206080244,-1.6194777055306213,1.360876461363334,-1.3119644807318533,-1.5709082384047208,-0.24060778672974115],"joint_velocity_rad_s":[-0.17548836262464385,-0.006657394934856117,-0.0005169682281550162,0.007388049904413333,-0.0006946176779574687,-0.1740155882974425],"linkage_position_rad":[0.4611803617540009,0.0002926069163820545,0.4582771024754609,-0.45084602474366026,0.4611805993335044,0.000293433104983799,0.458216459559522,-0.45106643539859115],"tcp_position_m":[-0.020878471272501687,0.47695138098909917,0.4319190433079353],"tcp_quaternion_wxyz":[0.0001076057899920295,0.7071377792739395,0.7070757701252106,-6.961576329861433e-05],"object_position_m":[-0.020885943671146684,0.4772074821288636,0.4260627039777825],"object_quaternion_wxyz":[0.9999999604924037,-0.00027537891297250804,4.514786916393155e-05,-3.381294637445712e-05],"object_linear_velocity_m_s":[0.0826185724730078,0.00037731404412793613,0.0025415120425239],"object_angular_velocity_rad_s":[-0.0005382853119407428,-0.002070349676462587,-0.004254312108628894],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323990185646625,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08913208019505,"right":46.10572471141933},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8459439165992788,-1.6301320934702592,1.3505515218131796,-1.3153508169363886,-1.570903663145313,-0.27506108130844587,180.0],"actuator_force":[1.2911530673491143,-18.645817905333388,-20.443091809046564,-2.4319730927088585,0.07174939749961595,0.17491154039188928,5.0],"issued_joint_targets_rad":[-1.8495379860730239,-1.6209817944011837,1.3605532765477142,-1.3103749423367244,-1.5709034929418058,-0.27865401322378514],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.8495379860730239,-1.6209817944011837,1.3605532765477142,-1.3103749423367244,-1.5709034929418058,-0.27865401322378514],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":5.980000000000332,"qpos":[-1.8151097058603747,-1.6196154407583645,1.360854410563985,-1.3118049400418585,-1.5709082324140224,-0.2442255527908655,0.4611803714663606,0.0002926323333794592,0.45827713595532826,-0.4508462147919257,0.4611806041309281,0.0002933982550503655,0.4582164439284155,-0.45106619713849105,-0.019178249541849608,0.47720985420619916,0.42612088092382366,0.9999999603508779,-0.00027585294629694444,4.486776543534701e-05,-3.450040946947274e-05],"qvel":[-0.17536383778345135,-0.005926197617880816,-0.001213377876597536,0.007359799579198138,-0.0006929717540868554,-0.1738901700456236,-1.45716920106974e-05,1.0979367053508567e-05,0.0001790000660673542,0.00011497725586740264,-4.9960829000608565e-06,-2.196767902310743e-05,-0.00017778464496947288,-3.205365854331509e-05,0.08262266649326022,0.00037983335325108414,0.0025388501227412356,-0.0005474459961763666,-0.0020572576820812438,-0.0042547394021380715],"joint_position_rad":[-1.8151097058603747,-1.6196154407583645,1.360854410563985,-1.3118049400418585,-1.5709082324140224,-0.2442255527908655],"joint_velocity_rad_s":[-0.17536383778345135,-0.005926197617880816,-0.001213377876597536,0.007359799579198138,-0.0006929717540868554,-0.1738901700456236],"linkage_position_rad":[0.4611803714663606,0.0002926323333794592,0.45827713595532826,-0.4508462147919257,0.4611806041309281,0.0002933982550503655,0.4582164439284155,-0.45106619713849105],"tcp_position_m":[-0.01917078787928502,0.47695157807117083,0.4319767673465384],"tcp_quaternion_wxyz":[0.00010728747421352007,0.7071378214277646,0.7070757279879163,-6.990100613799214e-05],"object_position_m":[-0.019178249541849608,0.47720985420619916,0.42612088092382366],"object_quaternion_wxyz":[0.9999999603508779,-0.00027585294629694444,4.486776543534701e-05,-3.450040946947274e-05],"object_linear_velocity_m_s":[0.08262266649326022,0.00037983335325108414,0.0025388501227412356],"object_angular_velocity_rad_s":[-0.0005479697764721081,-0.0020595669278527058,-0.004253554615035116],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632398686899567,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08911376927937,"right":46.105703616106986},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8495368937919014,-1.6301235215987175,1.3503915141025036,-1.3151962172795846,-1.570903512404529,-0.2786540157871491,180.0],"actuator_force":[1.2911592503269276,-18.64568263355386,-20.440441772323993,-2.431618576782739,0.07165718015539824,0.17478550642056234,5.0],"issued_joint_targets_rad":[-1.8531272266660346,-1.6209613418194944,1.3603781977174056,-1.3102208478582442,-1.5709032986093763,-0.28224331943645065],"issued_gripper_0_255":180.0,"command":{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.8531272266660346,-1.6209613418194944,1.3603781977174056,-1.3102208478582442,-1.5709032986093763,-0.28224331943645065],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.000000000000338,"qpos":[-1.8187249043591844,-1.6197380779460755,1.3608177600176248,-1.3116459220458903,-1.5709082115475976,-0.2478406411649833,0.46118038108916204,0.0002926566391371336,0.4582771683162241,-0.4508463974658062,0.46118060903997443,0.0002933645008400883,0.4582164294468082,-0.4510659663262855,-0.017470528367454944,0.47721232811996206,0.42617917487192863,0.999999960211531,-0.00027631507496534417,4.461719840673476e-05,-3.515993551292636e-05],"qvel":[-0.17523455883766265,-0.005194465807272224,-0.0019102635665150423,0.00733161365615937,-0.0006913626906053807,-0.17375995065357044,-1.361369035048437e-05,1.0640942270426226e-05,0.00017957577030161415,0.00011513672268811117,-3.933058421324375e-06,-2.1925247691192576e-05,-0.0001758485020874583,-3.285038280608169e-05,0.08262678552396728,0.000382366853519802,0.002536285902638756,-0.0005571859756995977,-0.00204649587029871,-0.00425412681659602],"joint_position_rad":[-1.8187249043591844,-1.6197380779460755,1.3608177600176248,-1.3116459220458903,-1.5709082115475976,-0.2478406411649833],"joint_velocity_rad_s":[-0.17523455883766265,-0.005194465807272224,-0.0019102635665150423,0.00733161365615937,-0.0006913626906053807,-0.17375995065357044],"linkage_position_rad":[0.46118038108916204,0.0002926566391371336,0.4582771683162241,-0.4508463974658062,0.46118060903997443,0.0002933645008400883,0.4582164294468082,-0.4510659663262855],"tcp_position_m":[-0.017463076960720175,0.47695187513611303,0.43203460835541707],"tcp_quaternion_wxyz":[0.00010695605636036013,0.7071378603785873,0.7070756890564526,-7.017789953713222e-05],"object_position_m":[-0.017470528367454944,0.47721232811996206,0.42617917487192863],"object_quaternion_wxyz":[0.999999960211531,-0.00027631507496534417,4.461719840673476e-05,-3.515993551292636e-05],"object_linear_velocity_m_s":[0.08262678552396728,0.000382366853519802,0.002536285902638756],"object_angular_velocity_rad_s":[-0.0005577095280483844,-0.0020488073030557647,-0.004252945479031771],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323983552158096,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08909543763203,"right":46.1056825109705},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8531262401774762,-1.630100063306478,1.3502168112960808,-1.3150421284335123,-1.5709033560371952,-0.2822433220010921,180.0],"actuator_force":[1.2911518984815302,-18.646184397895922,-20.437792016482035,-2.4312645594269497,0.071564024261761,0.17465464730264557,5.0],"issued_joint_targets_rad":[-1.8567127408525173,-1.6209256777040526,1.360188410383661,-1.3100672561909528,-1.5709030989066757,-0.28582890165036756],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.8567127408525173,-1.6209256777040526,1.360188410383661,-1.3100672561909528,-1.5709030989066757,-0.28582890165036756],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.020000000000345,"qpos":[-1.8223373177978293,-1.6198456059727107,1.3607664994253958,-1.3114874248600064,-1.5709081767029425,-0.2514529528870789,0.4611803906262416,0.0002926798745421451,0.4582771995992265,-0.45084657303831943,0.46118061405715166,0.000293331801583645,0.45821641607365193,-0.4510657426821206,-0.015762779744657066,0.47721490465759153,0.4262375879171424,0.999999960074061,-0.00027676673765805927,4.4394927748641984e-05,-3.579300572060699e-05],"qvel":[-0.17510053868740297,-0.004462226814807119,-0.002607643280119815,0.00730352273688019,-0.0006897866525179233,-0.17362494644022772,-1.2655010102708355e-05,1.0303618854152827e-05,0.00018014867212367563,0.00011527944709610525,-2.8689867686519175e-06,-2.1884125537399e-05,-0.00017390782068767637,-3.363082770277217e-05,0.08263092887317944,0.000384915787053332,0.0025338234460000096,-0.0005669651809442404,-0.002035752296929284,-0.0042536532517624985],"joint_position_rad":[-1.8223373177978293,-1.6198456059727107,1.3607664994253958,-1.3114874248600064,-1.5709081767029425,-0.2514529528870789],"joint_velocity_rad_s":[-0.17510053868740297,-0.004462226814807119,-0.002607643280119815,0.00730352273688019,-0.0006897866525179233,-0.17362494644022772],"linkage_position_rad":[0.4611803906262416,0.0002926798745421451,0.4582771995992265,-0.45084657303831943,0.46118061405715166,0.000293331801583645,0.45821641607365193,-0.4510657426821206],"tcp_position_m":[-0.015755338134909647,0.47695227300093634,0.43209256836468957],"tcp_quaternion_wxyz":[0.00010661269895861943,0.7071378963589513,0.707075653097995,-7.044723413299936e-05],"object_position_m":[-0.015762779744657066,0.47721490465759153,0.4262375879171424],"object_quaternion_wxyz":[0.999999960074061,-0.00027676673765805927,4.4394927748641984e-05,-3.579300572060699e-05],"object_linear_velocity_m_s":[0.08263092887317944,0.000384915787053332,0.0025338234460000096],"object_angular_velocity_rad_s":[-0.0005674886241298319,-0.002038065904984498,-0.004252475390347203],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632398023489084,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08907708541273,"right":46.10566139549286},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.85671186002579,-1.6300617129929103,1.350027399549876,-1.3148885424512728,-1.5709031941714116,-0.28582890421623686,180.0],"actuator_force":[1.2911310190397671,-18.64732331447658,-20.435142438991534,-2.4309110693212688,0.07146993101730459,0.17451897944377492,5.0],"issued_joint_targets_rad":[-1.8602944332761,-1.620874796513421,1.3599838998511629,-1.3099141582530964,-1.570902893951933,-0.28941066450109254],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.8602944332761,-1.620874796513421,1.3599838998511629,-1.3099141582530964,-1.570902893951933,-0.28941066450109254],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.040000000000352,"qpos":[-1.8259468481460983,-1.6199380142536524,1.36070061807034,-1.3113294459147653,-1.5709081287026343,-0.2550623893321416,0.46118040008135175,0.00029270207880227166,0.45827722984384056,-0.45084674177133266,0.46118061917917424,0.0002933001180770604,0.45821640376956235,-0.45106552593706684,-0.014055003279596207,0.47721758463478386,0.4262961222454264,0.9999999599381907,-0.0002772092408852587,4.4199774780372564e-05,-3.640101143044136e-05],"qvel":[-0.17496179070779283,-0.0037295067066942266,-0.0033055371879801864,0.007275559741344427,-0.0006882401261911429,-0.17348517387399987,-1.1695607377522467e-05,9.967321595733979e-06,0.00018071880895857416,0.00011540596839907485,-1.8038183052908688e-06,-2.184425159750932e-05,-0.00017196252323046235,-3.4395563588353495e-05,0.08263509584112572,0.0003874814899610902,0.0025314670101391997,-0.0005767690297244062,-0.0020250224587264392,-0.0042533100186185535],"joint_position_rad":[-1.8259468481460983,-1.6199380142536524,1.36070061807034,-1.3113294459147653,-1.5709081287026343,-0.2550623893321416],"joint_velocity_rad_s":[-0.17496179070779283,-0.0037295067066942266,-0.0033055371879801864,0.007275559741344427,-0.0006882401261911429,-0.17348517387399987],"linkage_position_rad":[0.46118040008135175,0.00029270207880227166,0.45827722984384056,-0.45084674177133266,0.46118061917917424,0.0002933001180770604,0.45821640376956235,-0.45106552593706684],"tcp_position_m":[-0.014047571028402425,0.4769527725108486,0.43215064949326787],"tcp_quaternion_wxyz":[0.0001062584515706719,0.7071379295789377,0.7070756199022064,-7.070971990068459e-05],"object_position_m":[-0.014055003279596207,0.47721758463478386,0.4262961222454264],"object_quaternion_wxyz":[0.9999999599381907,-0.0002772092408852587,4.4199774780372564e-05,-3.640101143044136e-05],"object_linear_velocity_m_s":[0.08263509584112572,0.0003874814899610902,0.0025314670101391997],"object_angular_velocity_rad_s":[-0.0005772924785567068,-0.0020273382379523207,-0.0042521356574802376],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632397691693453,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08905871265002,"right":46.10564026907068},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8602936579764682,-1.630008465337578,1.3498232641695165,-1.3147354502414745,-1.570903026923726,-0.2894106670681433,180.0],"actuator_force":[1.2910966223771538,-18.649099485173338,-20.43249292645487,-2.430558137489129,0.07137490207321662,0.17437851939916982,5.0],"issued_joint_targets_rad":[-1.8638722089602417,-1.620808692986135,1.3597646505393657,-1.3097615437976073,-1.570902683853176,-0.2929885130039016],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.8638722089602417,-1.620808692986135,1.3597646505393657,-1.3097615437976073,-1.570902683853176,-0.2929885130039016],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.060000000000358,"qpos":[-1.8295533976600293,-1.6200152927159488,1.3606201047728828,-1.3111719819093,-1.5709080683005343,-0.25866885221883185,0.4611804094581529,0.00029272328951036045,0.45827725908804934,-0.4508469039159688,0.46118062440294394,0.0002932694126232536,0.45821639249674645,-0.4510653158326866,-0.012347198588060817,0.47722036889746655,0.4263547801381253,0.9999999598036645,-0.00027764377190049046,4.403061883893804e-05,-3.69852600369528e-05],"qvel":[-0.1748183287502248,-0.002996330364852242,-0.004003967591163133,0.007247759776413325,-0.0006867198937876126,-0.17334064960535267,-1.0735436434691236e-05,9.631977852655419e-06,0.00018128622330822126,0.00011551680483993033,-7.375021352508986e-07,-2.1805568247505906e-05,-0.00017001253350186385,-3.514514041641426e-05,0.08263928571966571,0.00039006539886665296,0.0025292210624114956,-0.0005865841644024993,-0.002014302228544224,-0.004253089001001558],"joint_position_rad":[-1.8295533976600293,-1.6200152927159488,1.3606201047728828,-1.3111719819093,-1.5709080683005343,-0.25866885221883185],"joint_velocity_rad_s":[-0.1748183287502248,-0.002996330364852242,-0.004003967591163133,0.007247759776413325,-0.0006867198937876126,-0.17334064960535267],"linkage_position_rad":[0.4611804094581529,0.00029272328951036045,0.45827725908804934,-0.4508469039159688,0.46118062440294394,0.0002932694126232536,0.45821639249674645,-0.4510653158326866],"tcp_position_m":[-0.012339775276444299,0.4769533745413005,0.43220885395337594],"tcp_quaternion_wxyz":[0.00010589426167944585,0.7071379602283471,0.7070755892790564,-7.096599395993105e-05],"object_position_m":[-0.012347198588060817,0.47722036889746655,0.4263547801381253],"object_quaternion_wxyz":[0.9999999598036645,-0.00027764377190049046,4.403061883893804e-05,-3.69852600369528e-05],"object_linear_velocity_m_s":[0.08263928571966571,0.00039006539886665296,0.0025292210624114956],"object_angular_velocity_rad_s":[-0.0005871077298656924,-0.00201662018160628,-0.004251918162071869],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632397359801481,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08904031927417,"right":46.10561913104359},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8638715390491027,-1.6299403152878151,1.3496043895774263,-1.3145828415482186,-1.5709028544003043,-0.29298851557209027,180.0],"actuator_force":[1.291048721943298,-18.651512997791542,-20.429843354447257,-2.430205797100598,0.07127893949382269,0.1742332839060623,5.0],"issued_joint_targets_rad":[-1.86744597331796,-1.620727362126693,1.359530645946861,-1.309609401390611,-1.5709024687092614,-0.29656235256350744],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.86744597331796,-1.620727362126693,1.359530645946861,-1.309609401390611,-1.5709024687092614,-0.29656235256350744],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.080000000000365,"qpos":[-1.833156868891733,-1.6200774317746143,1.3605249478471766,-1.3110150287677258,-1.5709079961875005,-0.26227224361373414,0.4611804187602235,0.00029274354270745947,0.4582772873683779,-0.45084705971304345,0.4611806297255488,0.0002932396489758744,0.45821638221894845,-0.45106511212064765,-0.010639365295711632,0.47722325832391604,0.4264135639768102,0.9999999596702487,-0.0002780714103842211,4.3886393904637586e-05,-3.754698048524418e-05],"qvel":[-0.17467016714166245,-0.0022627215370266923,-0.004702958881243683,0.007220160023993362,-0.0006852230095813416,-0.1731913904944144,-9.774449752536039e-06,9.29751796456215e-06,0.00018185096368390134,0.00011561245640685941,3.300138092202966e-07,-2.1768021201206456e-05,-0.00016805777684020595,-3.588008920710526e-05,0.08264349779151349,0.0003926690580331737,0.002527090297953269,-0.0005963983328605578,-0.002003587831716586,-0.004252982614323742],"joint_position_rad":[-1.833156868891733,-1.6200774317746143,1.3605249478471766,-1.3110150287677258,-1.5709079961875005,-0.26227224361373414],"joint_velocity_rad_s":[-0.17467016714166245,-0.0022627215370266923,-0.004702958881243683,0.007220160023993362,-0.0006852230095813416,-0.1731913904944144],"linkage_position_rad":[0.4611804187602235,0.00029274354270745947,0.4582772873683779,-0.45084705971304345,0.4611806297255488,0.0002932396489758744,0.45821638221894845,-0.45106511212064765],"tcp_position_m":[-0.010631950523251507,0.4769540800001576,0.43226718405542697],"tcp_quaternion_wxyz":[0.00010552098453560986,0.7071379884786646,0.7070755610568511,-7.121662763022514e-05],"object_position_m":[-0.010639365295711632,0.47722325832391604,0.4264135639768102],"object_quaternion_wxyz":[0.9999999596702487,-0.0002780714103842211,4.3886393904637586e-05,-3.754698048524418e-05],"object_linear_velocity_m_s":[0.08264349779151349,0.0003926690580331737,0.002527090297953269],"object_angular_velocity_rad_s":[-0.000596922122254326,-0.0020059079673862756,-0.004251815317593329],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632397027784279,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08902190511058,"right":46.10559798068465},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8674454086529721,-1.6298572580451476,1.349370759277269,-1.3144307049295256,-1.5709026766979777,-0.2965623551327931,180.0],"actuator_force":[1.2909873341864113,-18.654563926255832,-20.427193587318015,-2.4298540832991193,0.07118204571941078,0.1740832899119482,5.0],"issued_joint_targets_rad":[-1.8710156321610996,-1.6206307991903321,1.359281868612811,-1.309457718388232,-1.5709022486108026,-0.3001320889833161],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.8710156321610996,-1.6206307991903321,1.359281868612811,-1.309457718388232,-1.5709022486108026,-0.3001320889833161],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.100000000000372,"qpos":[-1.8367571646991572,-1.620124422309766,1.3604151350579359,-1.3108585815975153,-1.5709079129966383,-0.26587246593609354,0.4611804279910558,0.00029276287294223885,0.45827731471994343,-0.45084720939343326,0.4611806351442493,0.0002932107922856891,0.4582163729013839,-0.4510649145623339,-0.008931503038330145,0.4772262538270332,0.42647247624853085,0.999999959537727,-0.00027849313901798695,4.3766085458396226e-05,-3.808732836347268e-05],"qvel":[-0.17451732068195472,-0.0015287028764209391,-0.005402537517579305,0.007192799647682221,-0.0006837467780923202,-0.17303741363380581,-8.812598386387744e-06,8.96387466016643e-06,0.0001824130832892358,0.00011569340566554623,1.3987824970993464e-06,-2.1731559388864927e-05,-0.0001660981796302257,-3.6600921094090535e-05,0.08264773132944234,0.00039529412709590067,0.002525079658820971,-0.0006062002804523976,-0.001992875824187594,-0.004252983767138517],"joint_position_rad":[-1.8367571646991572,-1.620124422309766,1.3604151350579359,-1.3108585815975153,-1.5709079129966383,-0.26587246593609354],"joint_velocity_rad_s":[-0.17451732068195472,-0.0015287028764209391,-0.005402537517579305,0.007192799647682221,-0.0006837467780923202,-0.17303741363380581],"linkage_position_rad":[0.4611804279910558,0.00029276287294223885,0.45827731471994343,-0.45084720939343326,0.4611806351442493,0.0002932107922856891,0.4582163729013839,-0.4510649145623339],"tcp_position_m":[-0.008924096422305473,0.476954889830033,0.43232564221329495],"tcp_quaternion_wxyz":[0.00010513939205360109,0.707138014484838,0.7070755350804552,-7.146213279466723e-05],"object_position_m":[-0.008931503038330145,0.4772262538270332,0.42647247624853085],"object_quaternion_wxyz":[0.999999959537727,-0.00027849313901798695,4.3766085458396226e-05,-3.808732836347268e-05],"object_linear_velocity_m_s":[0.08264773132944234,0.00039529412709590067,0.002525079658820971],"object_angular_velocity_rad_s":[-0.0006067243975266841,-0.0019951981567275117,-0.004251820030884733],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323966956116236,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.089003469875266,"right":46.10557681719423},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8710151725963013,-1.629759289050484,1.349122355815458,-1.3142790277340688,-1.5709024939051905,-0.30013209155366005,180.0],"actuator_force":[1.2909124784932828,-18.65825233086707,-20.42454347792409,-2.42950303304508,0.07108422353314836,0.1739285545973246,5.0],"issued_joint_targets_rad":[-1.8745810917090826,-1.6205189996664546,1.359018300075126,-1.3093064809114892,-1.570902023641007,-0.30369762847416903],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.8745810917090826,-1.6205189996664546,1.359018300075126,-1.3093064809114892,-1.570902023641007,-0.30369762847416903],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1200000000003785,"qpos":[-1.8403541882557626,-1.6201562556443876,1.3602906535774129,-1.3107026346494515,-1.5709078193081345,-0.2694694219629458,0.4611804371540587,0.00029278131332898145,0.45827734117650953,-0.45084735317846597,0.4611806406564702,0.0002931828090467499,0.45821636451068287,-0.4510647229284714,-0.007223611462091611,0.4772293563567897,0.4265315195515069,0.9999999594059017,-0.00027890985306190246,4.366872755580285e-05,-3.860739062803178e-05],"qvel":[-0.17435980463902015,-0.0007942959712404525,-0.006102732021688736,0.0071657197170458846,-0.0006822887338495254,-0.1728787363668856,-7.849831102859889e-06,8.630983076555435e-06,0.00018297264119167668,0.00011576011759049686,2.468858697284543e-06,-2.1696134831199408e-05,-0.00016413366851324596,-3.730813000336548e-05,0.08265198559563285,0.000397942389543618,0.0025231943546883376,-0.0006159796525310388,-0.0019821630725453576,-0.004253085826440412],"joint_position_rad":[-1.8403541882557626,-1.6201562556443876,1.3602906535774129,-1.3107026346494515,-1.5709078193081345,-0.2694694219629458],"joint_velocity_rad_s":[-0.17435980463902015,-0.0007942959712404525,-0.006102732021688736,0.0071657197170458846,-0.0006822887338495254,-0.1728787363668856],"linkage_position_rad":[0.4611804371540587,0.00029278131332898145,0.45827734117650953,-0.45084735317846597,0.4611806406564702,0.0002931828090467499,0.45821636451068287,-0.4510647229284714],"tcp_position_m":[-0.007216212636665785,0.4769558050107813,0.4323842309500078],"tcp_quaternion_wxyz":[0.00010475018086273527,0.7071380383868822,0.7070755112096836,-7.170296765070533e-05],"object_position_m":[-0.007223611462091611,0.4772293563567897,0.4265315195515069],"object_quaternion_wxyz":[0.9999999594059017,-0.00027890985306190246,4.366872755580285e-05,-3.860739062803178e-05],"object_linear_velocity_m_s":[0.08265198559563285,0.000397942389543618,0.0025231943546883376],"object_angular_velocity_rad_s":[-0.0006165041976149336,-0.0019844876211603194,-0.004251925667429716],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632396363251997,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08898501317436,"right":46.10555563969625},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8745807370950067,-1.629646403967944,1.3488591607394103,-1.314127796076003,-1.5709023061028533,-0.3036976310455345,180.0],"actuator_force":[1.2908241771201574,-18.662578258616577,-20.421892867329916,-2.4291526849804086,0.07098547602549843,0.173769095394249,5.0],"issued_joint_targets_rad":[-1.878142258597114,-1.6203919592605989,1.3587399208250868,-1.3091556738191037,-1.5709017938764245,-0.30725887766254467],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.878142258597114,-1.6203919592605989,1.3587399208250868,-1.3091556738191037,-1.5709017938764245,-0.30725887766254467],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.140000000000385,"qpos":[-1.8439478430600504,-1.6201729235225155,1.3601514899421583,-1.3105471812788256,-1.5709077156536948,-0.2730630148345485,0.4611804462525591,0.00029279889560215324,0.4582773667705361,-0.45084749128027596,0.46118064625979327,0.0002931556670466839,0.4582163570148344,-0.45106453699877186,-0.0055156902238635095,0.4772325669028629,0.42659069660129856,0.9999999592745887,-0.0002793223690265672,4.3593400103743506e-05,-3.91081899822231e-05],"qvel":[-0.17419763474205743,-5.952136466320591e-05,-0.00680357298847887,0.007138963148647245,-0.0006808466227130027,-0.1727153763017428,-6.886094578337172e-06,8.29878041455025e-06,0.00018352970151033884,0.00011581304095514761,3.5402988024641985e-06,-2.1661702624169087e-05,-0.00016216417016624583,-3.800219226084926e-05,0.0826562598406885,0.0004006157619403244,0.002521439885371225,-0.0006257269053650056,-0.001971446735185239,-0.00425328258490423],"joint_position_rad":[-1.8439478430600504,-1.6201729235225155,1.3601514899421583,-1.3105471812788256,-1.5709077156536948,-0.2730630148345485],"joint_velocity_rad_s":[-0.17419763474205743,-5.952136466320591e-05,-0.00680357298847887,0.007138963148647245,-0.0006808466227130027,-0.1727153763017428],"linkage_position_rad":[0.4611804462525591,0.00029279889560215324,0.4582773667705361,-0.45084749128027596,0.46118064625979327,0.0002931556670466839,0.4582163570148344,-0.45106453699877186],"tcp_position_m":[-0.005508298839310926,0.47695682656217975,0.4324429529039072],"tcp_quaternion_wxyz":[0.00010435397958078934,0.7071380603113266,0.7070754893178544,-7.193954189910041e-05],"object_position_m":[-0.0055156902238635095,0.4772325669028629,0.42659069660129856],"object_quaternion_wxyz":[0.9999999592745887,-0.0002793223690265672,4.3593400103743506e-05,-3.91081899822231e-05],"object_linear_velocity_m_s":[0.0826562598406885,0.0004006157619403244,0.002521439885371225],"object_angular_velocity_rad_s":[-0.000626251975490086,-0.001973773523532734,-0.004252126018571858],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632396030672664,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088966534526094,"right":46.10553444725985},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.878142008780896,-1.6295185986672174,1.348581154552245,-1.313976994807714,-1.5709021133651073,-0.3072588802348966,180.0],"actuator_force":[1.2907224551317995,-18.66754174353855,-20.41924158443544,-2.4288030793088637,0.07088580656500199,0.1736049300002378,5.0],"issued_joint_targets_rad":[-1.881699039883757,-1.62024967387479,1.358446710258012,-1.3090052806779748,-1.5709015593876217,-0.31081574359812864],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.881699039883757,-1.62024967387479,1.358446710258012,-1.3090052806779748,-1.5709015593876217,-0.31081574359812864],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.160000000000392,"qpos":[-1.8475380329449125,-1.6201744180876525,1.3599976300092138,-1.3103922139075195,-1.5709076025206283,-0.2766531480600251,0.4611804552898015,0.0002928156501690717,0.4582773915332262,-0.4508476239021567,0.4611806519519476,0.0002931293353174342,0.4582163503831339,-0.45106435656157773,-0.0038077389915331787,0.4772358864974768,0.42665001023749927,0.9999999591436185,-0.00027973143253814665,4.353922631895414e-05,-3.959068894584932e-05],"qvel":[-0.17403082717251114,0.0006756014346123346,-0.007505093114548967,0.007112574663322681,-0.000679418384602033,-0.1725473513209248,-5.921333296394559e-06,7.96720609283471e-06,0.00018408433392377328,0.00011585260887165218,4.613160993992103e-06,-2.162822080693683e-05,-0.00016018961087644747,-3.868356667675469e-05,0.08266055330282832,0.00040331630410645776,0.002519822065354025,-0.0006354332260931307,-0.0019607242456026385,-0.004253568231859659],"joint_position_rad":[-1.8475380329449125,-1.6201744180876525,1.3599976300092138,-1.3103922139075195,-1.5709076025206283,-0.2766531480600251],"joint_velocity_rad_s":[-0.17403082717251114,0.0006756014346123346,-0.007505093114548967,0.007112574663322681,-0.000679418384602033,-0.1725473513209248],"linkage_position_rad":[0.4611804552898015,0.0002928156501690717,0.4582773915332262,-0.4508476239021567,0.4611806519519476,0.0002931293353174342,0.4582163503831339,-0.45106435656157773],"tcp_position_m":[-0.003800354713502512,0.47695795554681103,0.4325018108353107],"tcp_quaternion_wxyz":[0.00010395135539480604,0.707138080372524,0.7070754692904764,-7.217222143409297e-05],"object_position_m":[-0.0038077389915331787,0.4772358864974768,0.42665001023749927],"object_quaternion_wxyz":[0.9999999591436185,-0.00027973143253814665,4.353922631895414e-05,-3.959068894584932e-05],"object_linear_velocity_m_s":[0.08266055330282832,0.00040331630410645776,0.002519822065354025],"object_angular_velocity_rad_s":[-0.000635958915111823,-0.001963053301357816,-0.004252415272468205],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323956978396856,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08894803331545,"right":46.105513238849674},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8816988947092401,-1.6293758692042994,1.3482883166635262,-1.3138266074902403,-1.5709019157600133,-0.3108157461714334,180.0],"actuator_force":[1.2906073403487426,-18.673142807138902,-20.41658944555502,-2.428454257692806,0.07078521876780997,0.17343607638832736,5.0],"issued_joint_targets_rad":[-1.8852513430578433,-1.620092139586123,1.3581386466195675,-1.308855283731072,-1.5709013202397857,-0.3143681337607228],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8852513430578433,-1.620092139586123,1.3581386466195675,-1.308855283731072,-1.5709013202397857,-0.3143681337607228],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.1800000000003985,"qpos":[-1.8511246620867485,-1.6201607318612188,1.3598290589113757,-1.3102377239866556,-1.570907480355597,-0.2802397255231406,0.46118046426895154,0.0002928316061613366,0.458277415494575,-0.45084775123888865,0.46118065773080374,0.0002931037840872221,0.4582163445861301,-0.4510641814135372,-0.002099757444364145,0.4772393162184688,0.42670946343099875,0.9999999590128349,-0.0002801377254705866,4.350537035760697e-05,-4.005579363379579e-05],"qvel":[-0.17385939855286536,0.001411053951008681,-0.008207327243796806,0.007086600759322238,-0.0006780021375339711,-0.17237467958716518,-4.955489160329133e-06,7.636201108184023e-06,0.00018463661312133022,0.00011587923965541031,5.6875056560130015e-06,-2.1595650157147204e-05,-0.00015820991542451086,-3.935269598922622e-05,0.08266486520700524,0.00040604623024937184,0.002518347050615114,-0.000645090459346815,-0.0019499932965911014,-0.004253937325615162],"joint_position_rad":[-1.8511246620867485,-1.6201607318612188,1.3598290589113757,-1.3102377239866556,-1.570907480355597,-0.2802397255231406],"joint_velocity_rad_s":[-0.17385939855286536,0.001411053951008681,-0.008207327243796806,0.007086600759322238,-0.0006780021375339711,-0.17237467958716518],"linkage_position_rad":[0.46118046426895154,0.0002928316061613366,0.458277415494575,-0.45084775123888865,0.46118065773080374,0.0002931037840872221,0.4582163445861301,-0.4510641814135372],"tcp_position_m":[-0.0020923799531750533,0.4769591930731681,0.43256080763373084],"tcp_quaternion_wxyz":[0.00010354282000975578,0.7071380986738309,0.7070754510240689,-7.240133257528026e-05],"object_position_m":[-0.002099757444364145,0.4772393162184688,0.42670946343099875],"object_quaternion_wxyz":[0.9999999590128349,-0.0002801377254705866,4.350537035760697e-05,-4.005579363379579e-05],"object_linear_velocity_m_s":[0.08266486520700524,0.00040604623024937184,0.002518347050615114],"object_angular_velocity_rad_s":[-0.000645616858046025,-0.0019523246510608203,-0.004252787986394271],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323953647179936,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08892950883498,"right":46.10549201336815},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8852513023656787,-1.6292182118004523,1.3479806253356512,-1.3136766163611164,-1.5709017133501684,-0.31436813633494826,180.0],"actuator_force":[1.2904788632854434,-18.679381458870466,-20.413936253930387,-2.4281062631627037,0.07068371646755622,0.17326255281267322,5.0],"issued_joint_targets_rad":[-1.8887990760446356,-1.6199193526233886,1.3578157069472216,-1.3087056638624395,-1.5709010764932656,-0.31791595606640644],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8887990760446356,-1.6199193526233886,1.3578157069472216,-1.3087056638624395,-1.5709010764932656,-0.31791595606640644],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.200000000000405,"qpos":[-1.8547076350143046,-1.6201318577208441,1.3596457610111536,-1.3100837019594729,-1.570907349568058,-0.28382265148812386,0.4611804731930936,0.0002928467914823761,0.4582774386834109,-0.4508478734770601,0.4611806635943638,0.0002930789847351338,0.4582163395955763,-0.45106401135926133,-0.0003917452733845081,0.47724285719260723,0.4267690592918713,0.9999999588820919,-0.0002805418724238729,4.3491035104535246e-05,-4.0504357267805127e-05],"qvel":[-0.17368336593312425,0.00214681874985293,-0.008910312430921972,0.007061089701119035,-0.0006765961629276131,-0.17219737954509293,-3.988501110906784e-06,7.305708327385604e-06,0.000185186620076442,0.00011589333774843595,6.763395778618581e-06,-2.1563954720899133e-05,-0.00015622500768103215,-4.001000841030934e-05,0.08266919476366033,0.000408807921249067,0.00251702136804067,-0.0006546910409420412,-0.001939251826335783,-0.004254384768745269],"joint_position_rad":[-1.8547076350143046,-1.6201318577208441,1.3596457610111536,-1.3100837019594729,-1.570907349568058,-0.28382265148812386],"joint_velocity_rad_s":[-0.17368336593312425,0.00214681874985293,-0.008910312430921972,0.007061089701119035,-0.0006765961629276131,-0.17219737954509293],"linkage_position_rad":[0.4611804731930936,0.0002928467914823761,0.4582774386834109,-0.4508478734770601,0.4611806635943638,0.0002930789847351338,0.4582163395955763,-0.45106401135926133],"tcp_position_m":[-0.00038437426335944676,0.47696054029900575,0.43261994632570205],"tcp_quaternion_wxyz":[0.00010312883502835957,0.7071381153086734,0.7070754344250937,-7.262716589381033e-05],"object_position_m":[-0.0003917452733845081,0.47724285719260723,0.4267690592918713],"object_quaternion_wxyz":[0.9999999588820919,-0.0002805418724238729,4.3491035104535246e-05,-4.0504357267805127e-05],"object_linear_velocity_m_s":[0.08266919476366033,0.000408807921249067,0.00251702136804067],"object_angular_velocity_rad_s":[-0.0006552182371525345,-0.0019415855141177113,-0.004253239062013703],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632395031271367,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088910960216396,"right":46.10547076958199},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8887991396723822,-1.629045622819212,1.3476580576253852,-1.313527002299335,-1.5709015061932612,-0.3179159586415213,180.0],"actuator_force":[1.290337057094348,-18.686257696676876,-20.411281799167682,-2.4277591400430083,0.07058130369125593,0.17308437781059638,5.0],"issued_joint_targets_rad":[-1.8923421472111677,-1.6197313093415342,1.357477867006308,-1.3085564005589854,-1.5709008282040529,-0.3214591188728821],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8923421472111677,-1.6197313093415342,1.357477867006308,-1.3085564005589854,-1.5709008282040529,-0.3214591188728821],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.220000000000412,"qpos":[-1.8582868566171877,-1.620087788878312,1.3594477198530415,-1.3099301372241103,-1.5709072105334259,-0.2874018306054559,0.46118048206523843,0.00029286123285438475,0.4582774611274437,-0.45084799079538207,0.46118066954076037,0.0002930549097464031,0.45821633538438544,-0.45106384621103823,0.0013162978181893777,0.477246510599182,0.4268288010779528,0.9999999587512546,-0.00028094444661113575,4.349546010908157e-05,-4.093718343917129e-05],"qvel":[-0.17350274677478325,0.0028828794544179656,-0.009614088023646017,0.007036091523971765,-0.0006751988919656846,-0.1720154699189997,-3.020305208254812e-06,6.975671909850474e-06,0.00018573444065269628,0.00011589529349189516,7.840896981288639e-06,-2.1533100836630338e-05,-0.00015423480832635274,-4.065591618615624e-05,0.08267354116787061,0.0004116039381981155,0.0025158519477923237,-0.0006642279371424348,-0.0019284980047087385,-0.004254905784754995],"joint_position_rad":[-1.8582868566171877,-1.620087788878312,1.3594477198530415,-1.3099301372241103,-1.5709072105334259,-0.2874018306054559],"joint_velocity_rad_s":[-0.17350274677478325,0.0028828794544179656,-0.009614088023646017,0.007036091523971765,-0.0006751988919656846,-0.1720154699189997],"linkage_position_rad":[0.46118048206523843,0.00029286123285438475,0.4582774611274437,-0.45084799079538207,0.46118066954076037,0.0002930549097464031,0.45821633538438544,-0.45106384621103823],"tcp_position_m":[0.0013236626393647287,0.4769619984349652,0.43267923008327813],"tcp_quaternion_wxyz":[0.00010270981681460492,0.7071381303615089,0.7070754194089927,-7.284997966594859e-05],"object_position_m":[0.0013162978181893777,0.477246510599182,0.4268288010779528],"object_quaternion_wxyz":[0.9999999587512546,-0.00028094444661113575,4.349546010908157e-05,-4.093718343917129e-05],"object_linear_velocity_m_s":[0.08267354116787061,0.0004116039381981155,0.0025158519477923237],"object_angular_velocity_rad_s":[-0.000664756015844156,-0.0019308340633912085,-0.004253763722027217],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632394697462509,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0888923865443,"right":46.105449506237285},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8923423149933893,-1.6288580987412309,1.3473205893200046,-1.3133777447870953,-1.5709012943425635,-0.32145912144885613,180.0],"actuator_force":[1.290181957509958,-18.69377150760465,-20.40862585661489,-2.4274129338896273,0.07047798462770061,0.17290157019982644,5.0],"issued_joint_targets_rad":[-1.8958804653706878,-1.6195280061937212,1.357125101220069,-1.3084074718686631,-1.5709005754242111,-0.3249975309839177],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8958804653706878,-1.6195280061937212,1.357125101220069,-1.3084074718686631,-1.5709005754242111,-0.3249975309839177],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.2400000000004185,"qpos":[-1.8618622321539906,-1.6200285188569532,1.359234918113683,-1.3097770180959505,-1.5709070635959734,-0.2909771679175414,0.46118049088831664,0.0002928749558623843,0.45827748285329917,-0.45084810336496256,0.46118067556824144,0.00029303153266943153,0.4582163319265792,-0.4510636857885011,0.0030243721144923145,0.47725027767389994,0.426888692204177,0.9999999586201967,-0.00028134597522030806,4.35179196567021e-05,-4.1355029147972616e-05],"qvel":[-0.17331755893227416,0.003619220772355727,-0.010318695764672758,0.007011658054409475,-0.0006738088930439139,-0.1718289697066295,-2.05083400805642e-06,6.646037290197746e-06,0.00018628016679742045,0.00011588548472262291,8.920078167541458e-06,-2.150305779676817e-05,-0.00015223923543644527,-4.129081809716803e-05,0.08267790359790221,0.00041443703738529563,0.0025148461589970254,-0.0006736945894441132,-0.0019177302216325345,-0.004255495897212536],"joint_position_rad":[-1.8618622321539906,-1.6200285188569532,1.359234918113683,-1.3097770180959505,-1.5709070635959734,-0.2909771679175414],"joint_velocity_rad_s":[-0.17331755893227416,0.003619220772355727,-0.010318695764672758,0.007011658054409475,-0.0006738088930439139,-0.1718289697066295],"linkage_position_rad":[0.46118049088831664,0.0002928749558623843,0.45827748285329917,-0.45084810336496256,0.46118067556824144,0.00029303153266943153,0.4582163319265792,-0.4510636857885011],"tcp_position_m":[0.0030317310263783858,0.47696356874850065,0.4327386622332696],"tcp_quaternion_wxyz":[0.00010228614089345577,0.7071381439086937,0.7070754058993187,-7.307000299613573e-05],"object_position_m":[0.0030243721144923145,0.47725027767389994,0.426888692204177],"object_quaternion_wxyz":[0.9999999586201967,-0.00028134597522030806,4.35179196567021e-05,-4.1355029147972616e-05],"object_linear_velocity_m_s":[0.08267790359790221,0.00041443703738529563,0.0025148461589970254],"object_angular_velocity_rad_s":[-0.0006742236328678875,-0.001920068691531936,-0.004254357489290606],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632394363253,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08887378671899,"right":46.10542822192008},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8958807371390496,-1.6286556361367257,1.346968194867427,-1.31322882186795,-1.5709010778473722,-0.3249975335607214,180.0],"actuator_force":[1.2900136027915323,-18.701922868487145,-20.40596818664244,-2.4270676914406977,0.07037376360506187,0.17271414907293092,5.0],"issued_joint_targets_rad":[-1.899413939786095,-1.6193094397007097,1.3567573825929684,-1.3082588543546103,-1.5709003182022583,-0.32853110165279314],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.899413939786095,-1.6193094397007097,1.3567573825929684,-1.3082588543546103,-1.5709003182022583,-0.32853110165279314],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.260000000000425,"qpos":[-1.8654336672599856,-1.6199540414682936,1.3590073375494995,-1.3096243317691851,-1.5709069090714955,-0.2945485688641809,0.4611804996651837,0.00029288798499703487,0.45827750388656097,-0.45084821134960557,0.4611806816751697,0.0002930088280747683,0.45821632919724925,-0.45106352991834736,0.004732477886507421,0.4772541597131187,0.42694873625274965,0.9999999584888007,-0.0002817469443029825,4.35577209693328e-05,-4.1758607627214456e-05],"qvel":[-0.17312782063154308,0.004355828531922018,-0.011024179914839978,0.006987842947162065,-0.0006724248601546304,-0.1716378981689503,-1.0800167835998957e-06,6.316751058515053e-06,0.00018682389602270137,0.00011586427773181228,1.0001011289887776e-05,-2.1473797569175552e-05,-0.00015023820356356002,-4.191509803353496e-05,0.08268228121404243,0.00041731018691105174,0.0025140118492332168,-0.0006830848639241853,-0.0019069470759688239,-0.004256150910115813],"joint_position_rad":[-1.8654336672599856,-1.6199540414682936,1.3590073375494995,-1.3096243317691851,-1.5709069090714955,-0.2945485688641809],"joint_velocity_rad_s":[-0.17312782063154308,0.004355828531922018,-0.011024179914839978,0.006987842947162065,-0.0006724248601546304,-0.1716378981689503],"linkage_position_rad":[0.4611804996651837,0.00029288798499703487,0.45827750388656097,-0.45084821134960557,0.4611806816751697,0.0002930088280747683,0.45821632919724925,-0.45106352991834736],"tcp_position_m":[0.004739831156495557,0.47696525256814004,0.43279824626730223],"tcp_quaternion_wxyz":[0.00010185814592866072,0.7071381560192681,0.7070753938269513,-7.328743863746208e-05],"object_position_m":[0.004732477886507421,0.4772541597131187,0.42694873625274965],"object_quaternion_wxyz":[0.9999999584888007,-0.0002817469443029825,4.35577209693328e-05,-4.1758607627214456e-05],"object_linear_velocity_m_s":[0.08268228121404243,0.00041731018691105174,0.0025140118492332168],"object_angular_velocity_rad_s":[-0.0006836149516500122,-0.0019092879999011328,-0.004255016167168126],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632394028603327,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088855159517834,"right":46.10540691511598},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.8994143153694611,-1.6284382316352624,1.3466008472996116,-1.3130802101009107,-1.5709008567534006,-0.3285311042303977,180.0],"actuator_force":[1.2898320336662437,-18.710711746706238,-20.403308533839663,-2.426723460579069,0.0702686450630381,0.1725221337866003,5.0],"issued_joint_targets_rad":[-1.9029424801722805,-1.619075606417262,1.3563746826264556,-1.3081105230447336,-1.5709000565835012,-0.33205974058464743],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.9029424801722805,-1.619075606417262,1.3563746826264556,-1.3081105230447336,-1.5709000565835012,-0.33205974058464743],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.280000000000432,"qpos":[-1.8690010679543068,-1.6198643507877288,1.358764958941298,-1.3094720642772448,-1.5709067472497469,-0.29811593928775865,0.4611805083986207,0.00029290034369481324,0.4582775242518083,-0.450848314906067,0.4611806878600145,0.0002929867715143895,0.458216327172512,-0.4510633784340589,0.0064406153915182755,0.47725815807845284,0.4270089369842559,0.9999999583569563,-0.00028214780324367227,4.361420252276956e-05,-4.2148590973057854e-05],"qvel":[-0.17293355044569175,0.005092689728390846,-0.011730587399128368,0.006964701739273443,-0.000671045602168093,-0.1714422748158041,-1.0777850279795477e-07,5.987760523719349e-06,0.00018736573205990176,0.00011583202713181601,1.1083772503415196e-05,-2.144529467212345e-05,-0.00014823162235332932,-4.252912764049549e-05,0.08268667315693774,0.00042022658511368764,0.0025133573883132695,-0.0006923930047334836,-0.0018961473655184713,-0.004256866889992659],"joint_position_rad":[-1.8690010679543068,-1.6198643507877288,1.358764958941298,-1.3094720642772448,-1.5709067472497469,-0.29811593928775865],"joint_velocity_rad_s":[-0.17293355044569175,0.005092689728390846,-0.011730587399128368,0.006964701739273443,-0.000671045602168093,-0.1714422748158041],"linkage_position_rad":[0.4611805083986207,0.00029290034369481324,0.4582775242518083,-0.450848314906067,0.4611806878600145,0.0002929867715143895,0.458216327172512,-0.4510633784340589],"tcp_position_m":[0.006447963275386918,0.47696705128811867,0.43285798585278146],"tcp_quaternion_wxyz":[0.00010142613731958398,0.7071381667556582,0.7070753831293888,-7.350246554453584e-05],"object_position_m":[0.0064406153915182755,0.47725815807845284,0.4270089369842559],"object_quaternion_wxyz":[0.9999999583569563,-0.00028214780324367227,4.361420252276956e-05,-4.2148590973057854e-05],"object_linear_velocity_m_s":[0.08268667315693774,0.00042022658511368764,0.0025133573883132695],"object_angular_velocity_rad_s":[-0.0006929242137857136,-0.0018984907886022144,-0.00425573582162054],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323936934728464,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08883650358885,"right":46.10538558420471},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9029429593968126,-1.6282058818925749,1.3462185181484163,-1.3129318845100049,-1.570900631103125,-0.33205974316302456,180.0],"actuator_force":[1.2896372932650593,-18.720138101048178,-20.400646626112575,-2.4263802903074065,0.07016263352761598,0.17232554394743715,5.0],"issued_joint_targets_rad":[-1.9064659966972277,-1.6188265028951996,1.355976971226237,-1.3079624513761698,-1.5708997906103315,-0.335583357937589],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.9064659966972277,-1.6188265028951996,1.355976971226237,-1.3079624513761698,-1.5708997906103315,-0.335583357937589],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.300000000000439,"qpos":[-1.8725643406465702,-1.6197594411290146,1.3585077620353458,-1.309320200451699,-1.5709065783966816,-0.30167918543805616,0.4611805170913307,0.00029291205437641704,0.45827754397264736,-0.4508484141843115,0.4611806941213418,0.0002929653394830189,0.45821632582946686,-0.45106323117561214,0.008148784872508894,0.4772622742017978,0.42706929834980206,0.9999999582245599,-0.0002825489688553722,4.3686732477637946e-05,-4.252561259327216e-05],"qvel":[-0.1727347672672384,0.005829792581411884,-0.012437967977734821,0.006942291922300151,-0.0006696700329009729,-0.17124211938720377,8.659602229991142e-07,5.659013677997492e-06,0.0001879057848329592,0.00011578907635312867,1.2168442269650706e-05,-2.1417526261492383e-05,-0.0001462193959928254,-4.3133265857772695e-05,0.08269107854604163,0.00042318968114944254,0.0025128917169883855,-0.0007016135912998942,-0.0018853300780339707,-0.004257640149594434],"joint_position_rad":[-1.8725643406465702,-1.6197594411290146,1.3585077620353458,-1.309320200451699,-1.5709065783966816,-0.30167918543805616],"joint_velocity_rad_s":[-0.1727347672672384,0.005829792581411884,-0.012437967977734821,0.006942291922300151,-0.0006696700329009729,-0.17124211938720377],"linkage_position_rad":[0.4611805170913307,0.00029291205437641704,0.45827754397264736,-0.4508484141843115,0.4611806941213418,0.0002929653394830189,0.45821632582946686,-0.45106323117561214],"tcp_position_m":[0.008156127614960275,0.47696896637343056,0.43291788484487254],"tcp_quaternion_wxyz":[0.00010099039045572231,0.707138176174318,0.7070753737501135,-7.371524118113916e-05],"object_position_m":[0.008148784872508894,0.4772622742017978,0.42706929834980206],"object_quaternion_wxyz":[0.9999999582245599,-0.0002825489688553722,4.3686732477637946e-05,-4.252561259327216e-05],"object_linear_velocity_m_s":[0.08269107854604163,0.00042318968114944254,0.0025128917169883855],"object_angular_velocity_rad_s":[-0.0007021459962395916,-0.001887676047522244,-0.0042565127648875115],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632393357819814,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08881781741917,"right":46.105364227425056},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9064665793864848,-1.627958583554054,1.3458211773529682,-1.31278381852871,-1.5709004009360887,-0.3355833605167108,180.0],"actuator_force":[1.2894294270663522,-18.73020188264354,-20.39798217366115,-2.4260382307354575,0.07005573358651418,0.17212439939305568,5.0],"issued_joint_targets_rad":[-1.9099843999817576,-1.618562125642719,1.3555642165999842,-1.3078146111339406,-1.5708995203224834,-0.3391018643224542],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.9099843999817576,-1.618562125642719,1.3555642165999842,-1.3078146111339406,-1.5708995203224834,-0.3391018643224542],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.320000000000445,"qpos":[-1.876123392142843,-1.61963930701731,1.3582357254803359,-1.3091687238792349,-1.570906402756502,-0.3052382139766017,0.46118052574594653,0.0002929231384843284,0.4582775630717505,-0.4508485093277652,0.46118070045781584,0.0002929445093807981,0.458216325146162,-0.45106308798923045,0.009856986557509393,0.4772665095908185,0.4271298245043124,0.9999999580915131,-0.0002829508291472356,4.377470721300046e-05,-4.289026948678876e-05],"qvel":[-0.1725314902768446,0.0065671266040171605,-0.013146374444695545,0.006920673034046377,-0.0006682971619472452,-0.1710374518301471,1.8412835469814163e-06,5.330458741385835e-06,0.00018844417052470074,0.0001157357595124613,1.325510577985112e-05,-2.1390472020826915e-05,-0.00014420142226344694,-4.372785892929497e-05,0.08269549647774481,0.00042620319790779665,0.0025126244012764884,-0.000710741498739116,-0.0018744943828782675,-0.0042584672327061765],"joint_position_rad":[-1.876123392142843,-1.61963930701731,1.3582357254803359,-1.3091687238792349,-1.570906402756502,-0.3052382139766017],"joint_velocity_rad_s":[-0.1725314902768446,0.0065671266040171605,-0.013146374444695545,0.006920673034046377,-0.0006682971619472452,-0.1710374518301471],"linkage_position_rad":[0.46118052574594653,0.0002929231384843284,0.4582775630717505,-0.4508485093277652,0.46118070045781584,0.0002929445093807981,0.458216325146162,-0.45106308798923045],"tcp_position_m":[0.009864324392682018,0.4769709993653404,0.4329779472996059],"tcp_quaternion_wxyz":[0.00010055115365906067,0.7071381843262975,0.7070753656380152,-7.392590360878276e-05],"object_position_m":[0.009856986557509393,0.4772665095908185,0.4271298245043124],"object_quaternion_wxyz":[0.9999999580915131,-0.0002829508291472356,4.377470721300046e-05,-4.289026948678876e-05],"object_linear_velocity_m_s":[0.08269549647774481,0.00042620319790779665,0.0025126244012764884],"object_angular_velocity_rad_s":[-0.0007112751717538084,-0.0018768429480175593,-0.004257343540287494],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632393021601305,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088799099337024,"right":46.1053428428795},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9099850859568002,-1.6276963332145191,1.345408793157476,-1.312635983938584,-1.5709001662891695,-0.3391018669022931,180.0],"actuator_force":[1.2892084828235966,-18.740903036024974,-20.395314867841535,-2.4256973330791425,0.06994794986110264,0.17191872016903176,5.0],"issued_joint_targets_rad":[-1.9134976010977396,-1.6182824710794677,1.3551363851442038,-1.3076669723830352,-1.5708992457572541,-0.3426151708010314],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.9134976010977396,-1.6182824710794677,1.3551363851442038,-1.3076669723830352,-1.5708992457572541,-0.3426151708010314],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.340000000000452,"qpos":[-1.8796781296508915,-1.6195039431605263,1.357948826759608,-1.3090176168562553,-1.570906220553539,-0.3087929319804514,0.4611805343650209,0.0002929336165170292,0.4582775815708803,-0.45084860047352904,0.46118070686818174,0.00029292425947629415,0.45821632510154836,-0.45106294872710434,0.011565220658877322,0.4772708658349589,0.4271905198211189,0.9999999579577223,-0.00028335374680315005,4.387754995995928e-05,-4.324312436709685e-05],"qvel":[-0.17232373890798672,0.007304682684473548,-0.013855862857308193,0.00689990677136256,-0.0006669260861696713,-0.17082829227054555,2.8182809116217345e-06,5.0020442612417534e-06,0.00018898101244730356,0.00011567240146507763,1.4343853589404512e-05,-2.1364114296565794e-05,-0.00014217759152055086,-4.431324240622385e-05,0.08269992602326236,0.00042927115771847744,0.0025125656932129944,-0.0007197718609145155,-0.0018636396238406337,-0.004259344900392451],"joint_position_rad":[-1.8796781296508915,-1.6195039431605263,1.357948826759608,-1.3090176168562553,-1.570906220553539,-0.3087929319804514],"joint_velocity_rad_s":[-0.17232373890798672,0.007304682684473548,-0.013855862857308193,0.00689990677136256,-0.0006669260861696713,-0.17082829227054555],"linkage_position_rad":[0.4611805343650209,0.0002929336165170292,0.4582775815708803,-0.45084860047352904,0.46118070686818174,0.00029292425947629415,0.45821632510154836,-0.45106294872710434],"tcp_position_m":[0.011572553810840339,0.47697315188741884,0.4330381774882493],"tcp_quaternion_wxyz":[0.00010010865084698717,0.7071381912577637,0.7070753587468741,-7.413457337889457e-05],"object_position_m":[0.011565220658877322,0.4772708658349589,0.4271905198211189],"object_quaternion_wxyz":[0.9999999579577223,-0.00028335374680315005,4.387754995995928e-05,-4.324312436709685e-05],"object_linear_velocity_m_s":[0.08269992602326236,0.00042927115771847744,0.0025125656932129944],"object_angular_velocity_rad_s":[-0.0007203068719056409,-0.0018659908357547353,-0.004258224908453899],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323926847732,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08878034747673,"right":46.10532142849527},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.913498390177237,-1.6274191273737761,1.3449813319982131,-1.3124883508013272,-1.5708999271968092,-0.34261517338156,180.0],"actuator_force":[1.2889745105039765,-18.752241500289074,-20.392644379866397,-2.4253576496722644,0.06983928698184627,0.1717085265002538,5.0],"issued_joint_targets_rad":[-1.9170055115645979,-1.617987535486856,1.354693441318837,-1.3075195033930185,-1.5708989669496942,-0.3461231888825874],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.9170055115645979,-1.617987535486856,1.354693441318837,-1.3075195033930185,-1.5708989669496942,-0.3461231888825874],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.360000000000459,"qpos":[-1.8832284607846035,-1.6193533444186674,1.3576470421179145,-1.308866860340618,-1.570906031993969,-0.3123432469453006,0.46118054295103544,0.00029294350806248416,0.45827759949092645,-0.4508486877526212,0.46118071335126976,0.00029290456887188425,0.45821632567545173,-0.4510628132471618,0.01327348737250883,0.47727534461203536,0.42725138890799946,0.9999999578230986,-0.00028375806241115074,4.399470952705133e-05,-4.358470763812149e-05],"qvel":[-0.17211153280721525,0.008042453182130118,-0.014566492799975184,0.006880057126150548,-0.000665555981817118,-0.17061466097997002,3.797047782140317e-06,4.67371846956407e-06,0.0001895164407390876,0.00011559931817927868,1.543478239387777e-05,-2.1338437792649485e-05,-0.00014014778493232844,-4.4889740142163185e-05,0.08270436622635684,0.0004323979111755407,0.0025127265990040025,-0.0007287000360106829,-0.0018527653127162016,-0.004260270118416644],"joint_position_rad":[-1.8832284607846035,-1.6193533444186674,1.3576470421179145,-1.308866860340618,-1.570906031993969,-0.3123432469453006],"joint_velocity_rad_s":[-0.17211153280721525,0.008042453182130118,-0.014566492799975184,0.006880057126150548,-0.000665555981817118,-0.17061466097997002],"linkage_position_rad":[0.46118054295103544,0.00029294350806248416,0.45827759949092645,-0.4508486877526212,0.46118071335126976,0.00029290456887188425,0.45821632567545173,-0.4510628132471618],"tcp_position_m":[0.013280816055736689,0.4769754256521586,0.43309857991309014],"tcp_quaternion_wxyz":[9.966308394150813e-05,0.7071381970104619,0.707075353034898,-7.434135524902175e-05],"object_position_m":[0.01327348737250883,0.47727534461203536,0.42725138890799946],"object_quaternion_wxyz":[0.9999999578230986,-0.00028375806241115074,4.399470952705133e-05,-4.358470763812149e-05],"object_linear_velocity_m_s":[0.08270436622635684,0.0004323979111755407,0.0025127265990040025],"object_angular_velocity_rad_s":[-0.0007292364526789654,-0.0018551192243136728,-0.0042591538347453535],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323923472901665,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0887615598342,"right":46.10529998208219},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9170064035649421,-1.6271269623874427,1.3445387583782362,-1.3123408873833702,-1.5708996836912112,-0.3461231914637786,180.0],"actuator_force":[1.2887275622088055,-18.764217210402876,-20.389970359366544,-2.425019233991293,0.06972974956056532,0.17149383875798208,5.0],"issued_joint_targets_rad":[-1.92050804334389,-1.6176773149529382,1.3542353475078763,-1.3073721705541148,-1.570898683932763,-0.34962583051846075],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.92050804334389,-1.6176773149529382,1.3542353475078763,-1.3073721705541148,-1.570898683932763,-0.34962583051846075],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.380000000000465,"qpos":[-1.8867742935674943,-1.6191875057708511,1.3573303464819113,-1.30871643389997,-1.5709058372673874,-0.31588906678780465,0.46118055150639004,0.00029295283182981024,0.45827761685192586,-0.4508487712901579,0.46118071990597775,0.00029288541746907266,0.4582163268485279,-0.4510626814128013,0.014981786876970537,0.4772799476954866,0.42731243662484697,0.9999999576875581,-0.0002841640974783366,4.41256591164881e-05,-4.391551923369919e-05],"qvel":[-0.1718948917893495,0.008780432038970469,-0.015278327687033171,0.006861190547093225,-0.0006641860972050492,-0.17039657833661817,4.777685980509511e-06,4.345429078945484e-06,0.00019005059305803745,0.00011551681846453131,1.652799548560594e-05,-2.1313429904712826e-05,-0.00013811187381776053,-4.545766529663157e-05,0.08270881610070956,0.00043558816959402707,0.002513118955703864,-0.0007375215738268234,-0.0018418711233317007,-0.004261240045662184],"joint_position_rad":[-1.8867742935674943,-1.6191875057708511,1.3573303464819113,-1.30871643389997,-1.5709058372673874,-0.31588906678780465],"joint_velocity_rad_s":[-0.1718948917893495,0.008780432038970469,-0.015278327687033171,0.006861190547093225,-0.0006641860972050492,-0.17039657833661817],"linkage_position_rad":[0.46118055150639004,0.00029295283182981024,0.45827761685192586,-0.4508487712901579,0.46118071990597775,0.00029288541746907266,0.4582163268485279,-0.4510626814128013],"tcp_position_m":[0.014989111296801774,0.47697782246825104,0.4331591593248174],"tcp_quaternion_wxyz":[9.921463504870927e-05,0.707138201622135,0.7070753484643,-7.454633974105395e-05],"object_position_m":[0.014981786876970537,0.4772799476954866,0.42731243662484697],"object_quaternion_wxyz":[0.9999999576875581,-0.0002841640974783366,4.41256591164881e-05,-4.391551923369919e-05],"object_linear_velocity_m_s":[0.08270881610070956,0.00043558816959402707,0.002513118955703864],"object_angular_velocity_rad_s":[-0.0007380594617558145,-0.0018442277892356115,-0.004260127477658623],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323920091055446,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088742734131415,"right":46.10527850119586},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9205090380793142,-1.6268198344123814,1.344081034728134,-1.3121935600719392,-1.5708994358025066,-0.34962583310028744,180.0],"actuator_force":[1.2884676920998572,-18.77683009864859,-20.38729243274156,-2.424682140694017,0.06961934216087684,0.17127467742042768,5.0],"issued_joint_targets_rad":[-1.9240051088317167,-1.6173518053111244,1.3537620638640224,-1.3072249382835461,-1.5708983967374563,-0.3531230080945018],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.9240051088317167,-1.6173518053111244,1.3537620638640224,-1.3072249382835461,-1.5708983967374563,-0.3531230080945018],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.400000000000472,"qpos":[-1.890315536435171,-1.619006422279634,1.3569987133734784,-1.3085663156560754,-1.5709056365482488,-0.3194302998469821,0.46118056003340885,0.00029296160567842425,0.458277633673093,-0.4508488512055714,0.46118072653127207,0.00029286678593525836,0.4582163286022348,-0.45106255309266813,0.016690119332541657,0.47728467696236565,0.42737366810317956,0.9999999575510174,-0.00028457215726928497,4.426989522418178e-05,-4.423603032908555e-05],"qvel":[-0.17167383578704934,0.009518614908743082,-0.015991435109975628,0.006843376130223285,-0.0006628157458962625,-0.17017406478004501,5.760304882898184e-06,4.01712306129149e-06,0.00019058361529832092,0.00011542520343661394,1.7623604014894477e-05,-2.1289080528526666e-05,-0.00013606971737822234,-4.60173218920168e-05,0.08271327462691704,0.0004388470416670898,0.002513755517751181,-0.0007462321848205226,-0.0018309568870594714,-0.004262252023670802],"joint_position_rad":[-1.890315536435171,-1.619006422279634,1.3569987133734784,-1.3085663156560754,-1.5709056365482488,-0.3194302998469821],"joint_velocity_rad_s":[-0.17167383578704934,0.009518614908743082,-0.015991435109975628,0.006843376130223285,-0.0006628157458962625,-0.17017406478004501],"linkage_position_rad":[0.46118056003340885,0.00029296160567842425,0.458277633673093,-0.4508488512055714,0.46118072653127207,0.00029286678593525836,0.4582163286022348,-0.45106255309266813],"tcp_position_m":[0.016697439685622636,0.47698034424860225,0.433219920741696],"tcp_quaternion_wxyz":[9.876346843418888e-05,0.7071382051268987,0.7070753450009281,-7.474960455871973e-05],"object_position_m":[0.016690119332541657,0.47728467696236565,0.42737366810317956],"object_quaternion_wxyz":[0.9999999575510174,-0.00028457215726928497,4.426989522418178e-05,-4.423603032908555e-05],"object_linear_velocity_m_s":[0.08271327462691704,0.0004388470416670898,0.002513755517751181],"object_angular_velocity_rad_s":[-0.0007467716075586166,-0.0018333163635584867,-0.004261143178358519],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632391670171349,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088723867922496,"right":46.10525698324445},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9240062061144225,-1.6264977393460067,1.343608121250825,-1.312046333281379,-1.5708991835588875,-0.35312301067693685,180.0],"actuator_force":[1.2881949563170565,-18.79008009624249,-20.38461020131672,-2.4243464256741163,0.06950806927034137,0.17105106302710738,5.0],"issued_joint_targets_rad":[-1.9274966208486728,-1.6170110020718396,1.3532735481350617,-1.3070777689206825,-1.5708981053929045,-0.35661463442104435],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.9274966208486728,-1.6170110020718396,1.3532735481350617,-1.3070777689206825,-1.5708981053929045,-0.35661463442104435],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.420000000000479,"qpos":[-1.8938520982366225,-1.6188100890522292,1.3566521148147925,-1.3084164822244455,-1.5709054299971799,-0.3229668548845572,0.46118056853433176,0.0002929698466464278,0.45827764997283965,-0.45084892761277884,0.46118073322617376,0.0002928486556717369,0.4582163309187931,-0.4510624281604145,0.018398484880154067,0.4772895344021715,0.42743508876773356,0.9999999574133968,-0.00028498253349843063,4.442693662261778e-05,-4.454668493070301e-05],"qvel":[-0.17144838479392288,0.010256999306034915,-0.016705887235408744,0.00682668584209591,-0.0006614443003389312,-0.16994714075878212,6.745021648461208e-06,3.6887461835269653e-06,0.000191115661732411,0.00011532476901905389,1.8721727298842725e-05,-2.126538216286224e-05,-0.00013402116160390168,-4.656900356429375e-05,0.08271774074914282,0.0004421800749598288,0.0025146500549263276,-0.0007548277102140525,-0.0018200225885709193,-0.0042633035672543325],"joint_position_rad":[-1.8938520982366225,-1.6188100890522292,1.3566521148147925,-1.3084164822244455,-1.5709054299971799,-0.3229668548845572],"joint_velocity_rad_s":[-0.17144838479392288,0.010256999306034915,-0.016705887235408744,0.00682668584209591,-0.0006614443003389312,-0.16994714075878212],"linkage_position_rad":[0.46118056853433176,0.0002929698466464278,0.45827764997283965,-0.45084892761277884,0.46118073322617376,0.0002928486556717369,0.4582163309187931,-0.4510624281604145],"tcp_position_m":[0.01840580135486902,0.47698299301919034,0.433280869470782],"tcp_quaternion_wxyz":[9.830973230955474e-05,0.7071382075555749,0.7070753426139255,-7.495121587855559e-05],"object_position_m":[0.018398484880154067,0.4772895344021715,0.42743508876773356],"object_quaternion_wxyz":[0.9999999574133968,-0.00028498253349843063,4.442693662261778e-05,-4.454668493070301e-05],"object_linear_velocity_m_s":[0.08271774074914282,0.0004421800749598288,0.0025146500549263276],"object_angular_velocity_rad_s":[-0.0007553687293552247,-0.0018223849335911345,-0.0042621984512820595],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463239133043815,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08870495846848,"right":46.10523542536244},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9274978204889675,-1.6261606727585884,1.34311997574809,-1.3118991693482867,-1.5708989269867148,-0.3566146370040607,180.0],"actuator_force":[1.287909412879344,-18.803967135132552,-20.381923239241587,-2.4240121461302806,0.06939593526647059,0.17082301612646233,5.0],"issued_joint_targets_rad":[-1.9309824926269936,-1.6166549003460842,1.3527697554692029,-1.3069306226093096,-1.5708978099264415,-0.36010062272008514],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.9309824926269936,-1.6166549003460842,1.3527697554692029,-1.3069306226093096,-1.5708978099264415,-0.36010062272008514],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.440000000000485,"qpos":[-1.8973838882341914,-1.6185985011981392,1.3562905212239653,-1.308266908648496,-1.5709052177621818,-0.32649864108407817,0.4611805770113139,0.0002929775709762116,0.4582776657687959,-0.4508490006203582,0.4611807399897524,0.0002928310087822041,0.4582163337811561,-0.45106230649447043,0.020106883640216157,0.4772945221266326,0.42749670436042425,0.9999999572746181,-0.00028539550691440707,4.4596323423458945e-05,-4.484790135326013e-05],"qvel":[-0.17121855880022963,0.010995584778168475,-0.017421761261645807,0.006811194780187337,-0.0006600711859065836,-0.1697158266700359,7.731962704371675e-06,3.3602425368857324e-06,0.00019164689592833983,0.00011521580526301087,1.9822494497935422e-05,-2.1242329924273012e-05,-0.00013196603655879697,-4.71129951170842e-05,0.08272221337129942,0.00044559330307780817,0.0025158174636268865,-0.000763304092904264,-0.0018090683626501367,-0.0042643923559245985],"joint_position_rad":[-1.8973838882341914,-1.6185985011981392,1.3562905212239653,-1.308266908648496,-1.5709052177621818,-0.32649864108407817],"joint_velocity_rad_s":[-0.17121855880022963,0.010995584778168475,-0.017421761261645807,0.006811194780187337,-0.0006600711859065836,-0.1697158266700359],"linkage_position_rad":[0.4611805770113139,0.0002929775709762116,0.4582776657687959,-0.4508490006203582,0.4611807399897524,0.0002928310087822041,0.4582163337811561,-0.45106230649447043],"tcp_position_m":[0.020114196417106673,0.4769857709288777,0.4333420111314433],"tcp_quaternion_wxyz":[9.785356045347456e-05,0.7071382089359938,0.7070753412754313,-7.515122952917111e-05],"object_position_m":[0.020106883640216157,0.4772945221266326,0.42749670436042425],"object_quaternion_wxyz":[0.9999999572746181,-0.00028539550691440707,4.4596323423458945e-05,-4.484790135326013e-05],"object_linear_velocity_m_s":[0.08272221337129942,0.00044559330307780817,0.0025158174636268865],"object_angular_velocity_rad_s":[-0.000763846768167827,-0.0018114336357472195,-0.0042632909755607054],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632390989855008,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088686002776285,"right":46.10521382445213},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9309837944334367,-1.6258086298175183,1.3426165534260786,-1.3117520284137671,-1.570898666110595,-0.36010062530365555,180.0],"actuator_force":[1.287611121601003,-18.81849115002524,-20.37923109111489,-2.4236793606544325,0.06928294438398552,0.17059055721489358,5.0],"issued_joint_targets_rad":[-1.934462637794507,-1.6162834947596703,1.3522506381961426,-1.3067834571650057,-1.5708975103636438,-0.3635808866092725],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.934462637794507,-1.6162834947596703,1.3522506381961426,-1.3067834571650057,-1.5708975103636438,-0.3635808866092725],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.460000000000492,"qpos":[-1.9009108161020403,-1.6183716537826525,1.3559139012998231,-1.3081175683273198,-1.570904999979727,-0.33002556804863153,0.46118058546642154,0.0002929847941389442,0.4582776810778302,-0.45084907033170746,0.46118074682111787,0.0002928138280416514,0.4582163371729748,-0.4510621879778253,0.021815315711304736,0.4772996423805776,0.42755852096700514,0.9999999571346043,-0.0002858113498085184,4.47776162211203e-05,-4.51400735874654e-05],"qvel":[-0.17098437772008712,0.011734373103321934,-0.018139139943129896,0.006796981476027913,-0.0006586958752756949,-0.16948014279036605,8.721264717062074e-06,3.0315541853555536e-06,0.00019217749155789698,0.0001150985980118805,2.0926045628275266e-05,-2.121992163624716e-05,-0.00012990415449103983,-4.76495731659115e-05,0.08272669135267668,0.00044909329943305134,0.00251727389369354,-0.0007716573487887325,-0.001798094492119811,-0.004265516226511444],"joint_position_rad":[-1.9009108161020403,-1.6183716537826525,1.3559139012998231,-1.3081175683273198,-1.570904999979727,-0.33002556804863153],"joint_velocity_rad_s":[-0.17098437772008712,0.011734373103321934,-0.018139139943129896,0.006796981476027913,-0.0006586958752756949,-0.16948014279036605],"linkage_position_rad":[0.46118058546642154,0.0002929847941389442,0.4582776810778302,-0.45084907033170746,0.46118074682111787,0.0002928138280416514,0.4582163371729748,-0.4510621879778253],"tcp_position_m":[0.021822624963478855,0.47698868026031105,0.4334033516815158],"tcp_quaternion_wxyz":[9.739507368208291e-05,0.7071382092932603,0.7070753409603134,-7.534969208009458e-05],"object_position_m":[0.021815315711304736,0.4772996423805776,0.42755852096700514],"object_quaternion_wxyz":[0.9999999571346043,-0.0002858113498085184,4.47776162211203e-05,-4.51400735874654e-05],"object_linear_velocity_m_s":[0.08272669135267668,0.00044909329943305134,0.00251727389369354],"object_angular_velocity_rad_s":[-0.0007722017380984871,-0.0018004627544915442,-0.004264418587630681],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323906483693736,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08866699754434,"right":46.10519217712893},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9344640415740713,-1.6254416052023153,1.3420978066765623,-1.3116048682907955,-1.5708984009534268,-0.3635808891933697,180.0],"actuator_force":[1.2873001439734253,-18.8336520806547,-20.376533269269657,-2.4233481293406385,0.06916910067775461,0.1703537066675267,5.0],"issued_joint_targets_rad":[-1.9379369703548996,-1.6158967793566665,1.351716145579992,-1.3066362279252526,-1.5708972067283464,-0.36705534008221163],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.9379369703548996,-1.6158967793566665,1.351716145579992,-1.3066362279252526,-1.5708972067283464,-0.36705534008221163],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.480000000000499,"qpos":[-1.9044327919229207,-1.6181295417755757,1.3555222218942102,-1.3079684329360535,-1.5709047767757571,-0.3335475457969356,0.4611805939016225,0.00029299153085705893,0.4582776959160603,-0.45084913684518046,0.4611807537194053,0.0002927970968669542,0.4582163410785636,-0.4510620724977933,0.023523781168704485,0.47730489755404704,0.42762054504681374,0.9999999569932795,-0.0002862303284827417,4.497039531153648e-05,-4.542357256404834e-05],"qvel":[-0.17074586130876457,0.012473368519106305,-0.018858112194009204,0.006784128247842443,-0.0006573178831573339,-0.16924010919593796,9.71307563719869e-06,2.702620489819037e-06,0.00019270763311032789,0.00011497343056440898,2.2032532809403777e-05,-2.1198157992552722e-05,-0.00012783530721963295,-4.817900575529023e-05,0.08273117350287457,0.00045268723875636663,0.002519036893504333,-0.0007798835378898553,-0.0017871014063892325,-0.00426667316623245],"joint_position_rad":[-1.9044327919229207,-1.6181295417755757,1.3555222218942102,-1.3079684329360535,-1.5709047767757571,-0.3335475457969356],"joint_velocity_rad_s":[-0.17074586130876457,0.012473368519106305,-0.018858112194009204,0.006784128247842443,-0.0006573178831573339,-0.16924010919593796],"linkage_position_rad":[0.4611805939016225,0.00029299153085705893,0.4582776959160603,-0.45084913684518046,0.4611807537194053,0.0002927970968669542,0.4582163410785636,-0.4510620724977933],"tcp_position_m":[0.023531087062238974,0.4769917234420656,0.43346489744647004],"tcp_quaternion_wxyz":[9.69343811841342e-05,0.707138208649991,0.707075341645932,-7.55466418380177e-05],"object_position_m":[0.023523781168704485,0.47730489755404704,0.42762054504681374],"object_quaternion_wxyz":[0.9999999569932795,-0.0002862303284827417,4.497039531153648e-05,-4.542357256404834e-05],"object_linear_velocity_m_s":[0.08273117350287457,0.00045268723875636663,0.002519036893504333],"object_angular_velocity_rad_s":[-0.0007804296974528935,-0.001789472720908495,-0.0042655792742951],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463239030592698,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08864793912762,"right":46.10517047968737},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9379384759131464,-1.625059593008923,1.3415636848300683,-1.3114576443143169,-1.570898131536427,-0.3670553426668081,180.0],"actuator_force":[1.286976543054152,-18.849449874337097,-20.373829250680046,-2.423018513915963,0.06905440798084328,0.17011248465755102,5.0],"issued_joint_targets_rad":[-1.9414054046637472,-1.615494747490297,1.3511662235394395,-1.3064888875794085,-1.570896899042619,-0.3705238974845388],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.9414054046637472,-1.615494747490297,1.3511662235394395,-1.3064888875794085,-1.570896899042619,-0.3705238974845388],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.500000000000505,"qpos":[-1.9079497261829967,-1.617872159994454,1.3551154478698835,-1.3078194723375989,-1.570904548266596,-0.3370644847575766,0.4611806023187829,0.000292997795124189,0.45827771029886866,-0.45084920025422764,0.461180760683768,0.00029278079928673714,0.45821634548286916,-0.4510619599458055,0.025232280062772144,0.47731029019583093,0.42768278346606287,0.9999999568505682,-0.0002866527057183821,4.5174259995079615e-05,-4.569874731995867e-05],"qvel":[-0.17050302906845932,0.013212577986690446,-0.019578773784513382,0.006772721610945685,-0.0006559367611877996,-0.16899574567079534,1.0707556575446666e-05,2.3733776243634874e-06,0.00019323751724288594,0.00011484058304969359,2.3142122285504415e-05,-2.1177042338722308e-05,-0.0001257592623921093,-4.8701553684916316e-05,0.08273565857612943,0.00045638296775948,0.002521125576562747,-0.0007879787350854639,-0.0017760896807363254,-0.004267861307283846],"joint_position_rad":[-1.9079497261829967,-1.617872159994454,1.3551154478698835,-1.3078194723375989,-1.570904548266596,-0.3370644847575766],"joint_velocity_rad_s":[-0.17050302906845932,0.013212577986690446,-0.019578773784513382,0.006772721610945685,-0.0006559367611877996,-0.16899574567079534],"linkage_position_rad":[0.4611806023187829,0.000292997795124189,0.45827771029886866,-0.45084920025422764,0.461180760683768,0.00029278079928673714,0.45821634548286916,-0.4510619599458055],"tcp_position_m":[0.025239582757108997,0.47699490306221953,0.4335266551520358],"tcp_quaternion_wxyz":[9.647158173568324e-05,0.7071382070265229,0.7070753433119279,-7.574210977731593e-05],"object_position_m":[0.025232280062772144,0.47731029019583093,0.42768278346606287],"object_quaternion_wxyz":[0.9999999568505682,-0.0002866527057183821,4.5174259995079615e-05,-4.569874731995867e-05],"object_linear_velocity_m_s":[0.08273565857612943,0.00045638296775948,0.002521125576562747],"object_angular_velocity_rad_s":[-0.0007885267194710894,-0.0017784641120055203,-0.004266771167307214],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323899624717314,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08862882350218,"right":46.10514872806849},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9414070118050197,-1.6246625866415467,1.3410141338762713,-1.3113103091712075,-1.5708978578791133,-0.37052390006960684,180.0],"actuator_force":[1.2866403833377262,-18.865884488861866,-20.37111847341839,-2.4226905778989476,0.06893886986017606,0.16986691106441754,5.0],"issued_joint_targets_rad":[-1.9448678553996124,-1.6150773916991927,1.3506008143296144,-1.3063413859751338,-1.5708965873267207,-0.3739864734850786],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.9448678553996124,-1.6150773916991927,1.3506008143296144,-1.3063413859751338,-1.5708965873267207,-0.3739864734850786],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.520000000000512,"qpos":[-1.9114615297644573,-1.6175995030414114,1.3546935419417465,-1.3076706544842973,-1.5709043145597765,-0.3405762957610997,0.461180610719654,0.0002930036002240689,0.4582777242409081,-0.45084926064750447,0.46118076771336,0.00029276491991304856,0.4582163503714341,-0.45106185021717776,0.026940812417097393,0.4773158230286478,0.42774524353521975,0.999999956706391,-0.0002870787432846408,4.538882795809823e-05,-4.5965926066493175e-05],"qvel":[-0.17025590014049655,0.013952011496717353,-0.02030122814671715,0.0067628527559056,-0.0006545520931371837,-0.16874707160112584,1.1704883111552088e-05,2.0437577770486738e-06,0.0001937673536914799,0.00011470033607682542,2.425499592961496e-05,-2.1156581373083175e-05,-0.00012367576098855351,-4.9217470434063856e-05,0.0827401452645498,0.00046018908659847373,0.0025235608135608222,-0.0007959389998628442,-0.0017650600379282325,-0.004269078921952115],"joint_position_rad":[-1.9114615297644573,-1.6175995030414114,1.3546935419417465,-1.3076706544842973,-1.5709043145597765,-0.3405762957610997],"joint_velocity_rad_s":[-0.17025590014049655,0.013952011496717353,-0.02030122814671715,0.0067628527559056,-0.0006545520931371837,-0.16874707160112584],"linkage_position_rad":[0.461180610719654,0.0002930036002240689,0.4582777242409081,-0.45084926064750447,0.46118076771336,0.00029276491991304856,0.4582163503714341,-0.45106185021717776],"tcp_position_m":[0.02694811206544028,0.4769982218835735,0.4335886319608073],"tcp_quaternion_wxyz":[9.600676480681624e-05,0.7071382044410969,0.7070753459400402,-7.59361204111211e-05],"object_position_m":[0.026940812417097393,0.4773158230286478,0.42774524353521975],"object_quaternion_wxyz":[0.999999956706391,-0.0002870787432846408,4.538882795809823e-05,-4.5965926066493175e-05],"object_linear_velocity_m_s":[0.0827401452645498,0.00046018908659847373,0.0025235608135608222],"object_angular_velocity_rad_s":[-0.0007964888620820951,-0.0017674376523559912,-0.004267992538473241],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632389617945538,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088609646209086,"right":46.10512691780401},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.944869563927249,-1.624250578689951,1.3404490961461162,-1.3111628127066897,-1.5708975799992706,-0.3739864760705903,180.0],"actuator_force":[1.286291730614721,-18.882955895765917,-20.368400332573856,-2.4223643867867395,0.06882248956674175,0.16961700536728586,5.0],"issued_joint_targets_rad":[-1.9483242375294012,-1.614644703566451,1.350019856178941,-1.3061936698971297,-1.5708962715990145,-0.3774429830412585],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.9483242375294012,-1.614644703566451,1.350019856178941,-1.3061936698971297,-1.5708962715990145,-0.3774429830412585],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.540000000000519,"qpos":[-1.9149681139355732,-1.6173115652325805,1.354256464498748,-1.3075219453078541,-1.5709040757547963,-0.3440828900296219,0.46118061910585606,0.0002930089587463543,0.45827773775610187,-0.4508493181089602,0.46118077480731545,0.0002927494439118523,0.4582163557303572,-0.45106174321088355,0.028649378226428966,0.47732149896622494,0.42780793305111975,0.9999999565606706,-0.0002875087045334845,4.56137347405847e-05,-4.6225417162842416e-05],"qvel":[-0.1700044931815417,0.014691682424632634,-0.02102558731007947,0.006754618106778136,-0.0006531634901659074,-0.16849410585304186,1.2705247633848478e-05,1.7136884077994278e-06,0.00019429736722555342,0.0001145529705576046,2.5371353797763115e-05,-2.113678481043372e-05,-0.00012158451217299529,-4.972700294665933e-05,0.0827446321904658,0.00046411504322047394,0.002526365454766135,-0.0008037603442194904,-0.0017540133493768712,-0.004270324418747716],"joint_position_rad":[-1.9149681139355732,-1.6173115652325805,1.354256464498748,-1.3075219453078541,-1.5709040757547963,-0.3440828900296219],"joint_velocity_rad_s":[-0.1700044931815417,0.014691682424632634,-0.02102558731007947,0.006754618106778136,-0.0006531634901659074,-0.16849410585304186],"linkage_position_rad":[0.46118061910585606,0.0002930089587463543,0.45827773775610187,-0.4508493181089602,0.46118077480731545,0.0002927494439118523,0.4582163557303572,-0.45106174321088355],"tcp_position_m":[0.028656674976136554,0.47700168286077643,0.4336508355134583],"tcp_quaternion_wxyz":[9.554001157637819e-05,0.7071382009100141,0.7070753495139516,-7.612869261435988e-05],"object_position_m":[0.028649378226428966,0.47732149896622494,0.42780793305111975],"object_quaternion_wxyz":[0.9999999565606706,-0.0002875087045334845,4.56137347405847e-05,-4.6225417162842416e-05],"object_linear_velocity_m_s":[0.0827446321904658,0.00046411504322047394,0.002526365454766135],"object_angular_velocity_rad_s":[-0.000804312135805657,-0.001756394215278694,-0.004269241795777843],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632389272288228,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08859040229018,"right":46.105105043956634},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9483260472459751,-1.6238235607896856,1.3398685099489593,-1.3110151017030596,-1.5708972979128748,-0.37744298562718576,180.0],"actuator_force":[1.2859306518130325,-18.900664084063465,-20.365674175545337,-2.4220400082805327,0.0687052699773858,0.16936278652224246,5.0],"issued_joint_targets_rad":[-1.9517744662669747,-1.6141966735584166,1.3494232828728578,-1.3060456828131586,-1.5708959518758445,-0.38089334135778896],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.9517744662669747,-1.6141966735584166,1.3494232828728578,-1.3060456828131586,-1.5708959518758445,-0.38089334135778896],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.560000000000525,"qpos":[-1.9184693903378203,-1.6170083405188918,1.3538041734032393,-1.3073733085955204,-1.5709038319438013,-0.3475841791635738,0.46118062747887306,0.00029301388260030486,0.4582777508576503,-0.4508493727179387,0.46118078196473955,0.0002927343569753037,0.45821636154626544,-0.4510616388293465,0.030357977454323695,0.47732732113258675,0.4278708603445836,0.9999999564133267,-0.00028794285713513404,4.584863329752126e-05,-4.647750999629454e-05],"qvel":[-0.16974882622074783,0.015431607944856816,-0.02175197299165555,0.0067481199746230154,-0.000651770586211112,-0.16823686663084517,1.3708861697526203e-05,1.383091279207813e-06,0.0001948277990942121,0.00011439876926398358,2.6491416825476788e-05,-2.111766580916054e-05,-0.0001194851885809409,-5.023039163881195e-05,0.08274911789741723,0.0004681712430799002,0.0025295645886043053,-0.0008114386985715326,-0.0017429506389230302,-0.0042715963397109685],"joint_position_rad":[-1.9184693903378203,-1.6170083405188918,1.3538041734032393,-1.3073733085955204,-1.5709038319438013,-0.3475841791635738],"joint_velocity_rad_s":[-0.16974882622074783,0.015431607944856816,-0.02175197299165555,0.0067481199746230154,-0.000651770586211112,-0.16823686663084517],"linkage_position_rad":[0.46118062747887306,0.00029301388260030486,0.4582777508576503,-0.4508493727179387,0.46118078196473955,0.0002927343569753037,0.45821636154626544,-0.4510616388293465],"tcp_position_m":[0.030365271447310282,0.4770052891596653,0.43371327397531334],"tcp_quaternion_wxyz":[9.507139586151125e-05,0.7071381964477714,0.7070753540191483,-7.631984041649527e-05],"object_position_m":[0.030357977454323695,0.47732732113258675,0.4278708603445836],"object_quaternion_wxyz":[0.9999999564133267,-0.00028794285713513404,4.584863329752126e-05,-4.647750999629454e-05],"object_linear_velocity_m_s":[0.08274911789741723,0.0004681712430799002,0.0025295645886043053],"object_angular_velocity_rad_s":[-0.0008119924696624029,-0.0017453348266480166,-0.004270517480680171],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323889254373224,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0885710862628,"right":46.1050831010967},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.951776376974559,-1.6233815234621758,1.3392723091566134,-1.3108671196256976,-1.5708970116339798,-0.3808933439441033,180.0],"actuator_force":[1.2855572148214378,-18.919009064510647,-20.362939296589502,-2.421717512550913,0.06858721353194142,0.16910427281979423,5.0],"issued_joint_targets_rad":[-1.9552184570238023,-1.6137332908393953,1.348811023274438,-1.3058973645812164,-1.5708956281713753,-0.3843374638374075],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.9552184570238023,-1.6137332908393953,1.348811023274438,-1.3058973645812164,-1.5708956281713753,-0.3843374638374075],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.580000000000532,"qpos":[-1.9219652709695956,-1.6166898223967545,1.3533366237639668,-1.3072247058501265,-1.570903583212207,-0.35108007512510114,0.46118063584002283,0.0002930183830266656,0.4582777635580165,-0.450849424549219,0.46118078918467537,0.000292719645291687,0.4582163678062636,-0.4510615369781847,0.032066610030473154,0.4773332928839223,0.4279340343344712,0.9999999562642753,-0.00028838147601466246,4.609319365773808e-05,-4.6722475765415716e-05],"qvel":[-0.1694889164941219,0.01617180951548484,-0.022480517871996477,0.006743467325033491,-0.0006503730333960496,-0.16797537131208462,1.4715958966459154e-05,1.0518812596867162e-06,0.00019535890946006563,0.00011423801978961432,2.7615429956518338e-05,-2.1099241402805968e-05,-0.00011737742073863361,-5.072787253232791e-05,0.0827536008396346,0.00047236917736727505,0.002533185843827753,-0.0008189698743779553,-0.0017318730879174841,-0.004272893358612124],"joint_position_rad":[-1.9219652709695956,-1.6166898223967545,1.3533366237639668,-1.3072247058501265,-1.570903583212207,-0.35108007512510114],"joint_velocity_rad_s":[-0.1694889164941219,0.01617180951548484,-0.022480517871996477,0.006743467325033491,-0.0006503730333960496,-0.16797537131208462],"linkage_position_rad":[0.46118063584002283,0.0002930183830266656,0.4582777635580165,-0.450849424549219,0.46118078918467537,0.000292719645291687,0.4582163678062636,-0.4510615369781847],"tcp_position_m":[0.03207390140361696,0.4770090441791986,0.43377595608917796],"tcp_quaternion_wxyz":[9.460098497794596e-05,0.7071381910671726,0.7070753594428141,-7.650957377291706e-05],"object_position_m":[0.032066610030473154,0.4773332928839223,0.4279340343344712],"object_quaternion_wxyz":[0.9999999562642753,-0.00028838147601466246,4.609319365773808e-05,-4.6722475765415716e-05],"object_linear_velocity_m_s":[0.0827536008396346,0.00047236917736727505,0.002533185843827753],"object_angular_velocity_rad_s":[-0.0008195256738004448,-0.0017342606700038788,-0.004271818266303323],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632388577327905,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08855169197416,"right":46.105061083160706},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9552204685242713,-1.622924455930911,1.3386604227243353,-1.310718806330229,-1.5708967211745706,-0.38433746642408023,180.0],"actuator_force":[1.2851714882972374,-18.937990874506795,-20.36019493046433,-2.4213969725544757,0.06846832215785525,0.1688414817189141,5.0],"issued_joint_targets_rad":[-1.9586561253501646,-1.6132545430576681,1.3481830007696836,-1.305748651110293,-1.5708953004973796,-0.38777526602217255],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.9586561253501646,-1.6132545430576681,1.3481830007696836,-1.305748651110293,-1.5708953004973796,-0.38777526602217255],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.600000000000539,"qpos":[-1.9254556681659643,-1.616356003806861,1.3528537676780779,-1.3070760961310797,-1.570903329639259,-0.35457049021756015,0.46118064419043664,0.00029302247060587874,0.45827777586891383,-0.45084947367306305,0.46118079646607985,0.0002927052955174205,0.45821637449789454,-0.4510614375659763,0.033775275847649756,0.47733941783347983,0.4279974645892927,0.999999956113429,-0.00028882484656553504,4.634710269281012e-05,-4.6960568169121456e-05],"qvel":[-0.1692247802514409,0.01691231344801596,-0.023211367095203845,0.006740776683138929,-0.0006489704973741575,-0.16770963625460555,1.5726798314145422e-05,7.19965082396132e-07,0.0001958909796753285,0.00011407101584281087,2.874366570451e-05,-2.108153256477783e-05,-0.00011526078981125232,-5.121967528023534e-05,0.0827580793697962,0.00047672157361654195,0.0025372597443843,-0.0008263495229446468,-0.0017207820418434863,-0.0042742142806099165],"joint_position_rad":[-1.9254556681659643,-1.616356003806861,1.3528537676780779,-1.3070760961310797,-1.570903329639259,-0.35457049021756015],"joint_velocity_rad_s":[-0.1692247802514409,0.01691231344801596,-0.023211367095203845,0.006740776683138929,-0.0006489704973741575,-0.16770963625460555],"linkage_position_rad":[0.46118064419043664,0.00029302247060587874,0.45827777586891383,-0.45084947367306305,0.46118079646607985,0.0002927052955174205,0.45821637449789454,-0.4510614375659763],"tcp_position_m":[0.03378256473321474,0.47701295157641715,0.4338388912355099],"tcp_quaternion_wxyz":[9.412884053950108e-05,0.7071381847794167,0.7070753657737376,-7.669789933546497e-05],"object_position_m":[0.033775275847649756,0.47733941783347983,0.4279974645892927],"object_quaternion_wxyz":[0.999999956113429,-0.00028882484656553504,4.634710269281012e-05,-4.6960568169121456e-05],"object_linear_velocity_m_s":[0.0827580793697962,0.00047672157361654195,0.0025372597443843],"object_angular_velocity_rad_s":[-0.0008269073983026689,-0.0017231730932067881,-0.004273142957081136],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632388227892424,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088532212556615,"right":46.105038983412896},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9586582374455332,-1.6224523459091296,1.3380327741365394,-1.3105700977232755,-1.570896426544363,-0.3877752686091746,180.0],"actuator_force":[1.2847735414379713,-18.957609583743306,-20.35744024499536,-2.421078464411835,0.068348597185377,0.16857442965334712,5.0],"issued_joint_targets_rad":[-1.96208738686505,-1.6127604160970286,1.3475391326223256,-1.3055994739653765,-1.5708949688629732,-0.39120666352347766],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.96208738686505,-1.6127604160970286,1.3475391326223256,-1.3055994739653765,-1.5708949688629732,-0.39120666352347766],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6200000000005454,"qpos":[-1.9289404945737494,-1.6160068770189506,1.3523555539365142,-1.306927435872812,-1.5709030712985432,-0.3580553370604277,0.4611806525310249,0.00029302615526355196,0.4582777878012812,-0.4508495201552175,0.4611808038077855,0.0002926912947468985,0.45821638160908656,-0.4510613405039966,0.035483974758198575,0.4773456998800316,0.4280611613977442,0.9999999559606947,-0.00028927326822570233,4.6610064013140514e-05,-4.71920239874791e-05],"qvel":[-0.16895643252988693,0.017653151580400348,-0.023944680041354506,0.006740173205383354,-0.0006475626525402105,-0.16743967656979225,1.6741668056921805e-05,3.8723972037195044e-07,0.00019642431544272034,0.00011389806087255503,2.9876428796061145e-05,-2.1064564859220365e-05,-0.00011313481958198078,-5.170602546007265e-05,0.08276255172428029,0.00048124257353380156,0.002541820128375945,-0.0008335730888952441,-0.0017096790195296723,-0.004275558042811463],"joint_position_rad":[-1.9289404945737494,-1.6160068770189506,1.3523555539365142,-1.306927435872812,-1.5709030712985432,-0.3580553370604277],"joint_velocity_rad_s":[-0.16895643252988693,0.017653151580400348,-0.023944680041354506,0.006740173205383354,-0.0006475626525402105,-0.16743967656979225],"linkage_position_rad":[0.4611806525310249,0.00029302615526355196,0.4582777878012812,-0.4508495201552175,0.4611808038077855,0.0002926912947468985,0.45821638160908656,-0.4510613405039966],"tcp_position_m":[0.03549126128427467,0.47701701529499624,0.43390208950125564],"tcp_quaternion_wxyz":[9.365501921254801e-05,0.7071381775941602,0.70707537300225,-7.688482123568726e-05],"object_position_m":[0.035483974758198575,0.4773456998800316,0.4280611613977442],"object_quaternion_wxyz":[0.9999999559606947,-0.00028927326822570233,4.6610064013140514e-05,-4.71920239874791e-05],"object_linear_velocity_m_s":[0.08276255172428029,0.00048124257353380156,0.002541820128375945],"object_angular_velocity_rad_s":[-0.0008341330866618383,-0.0017120736176876616,-0.004274490489304424],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323878770604725,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08851264031592,"right":46.10501679433894},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9620895993578609,-1.6219651793532568,1.3373892807620753,-1.3104209253674457,-1.5708961277505553,-0.39120666611077975,180.0],"actuator_force":[1.284363443732218,-18.977865300772464,-20.354674332336344,-2.4207620678552075,0.06822803924796972,0.16830313180321355,5.0],"issued_joint_targets_rad":[-1.9655121571724372,-1.6122508937866604,1.3468793292192054,-1.305449759905018,-1.570894633274283,-0.3946315719384679],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.9655121571724372,-1.6122508937866604,1.3468793292192054,-1.305449759905018,-1.570894633274283,-0.3946315719384679],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.640000000000552,"qpos":[-1.9324196631211452,-1.6156424334999169,1.3518419276859306,-1.306778678676391,-1.570902808258444,-0.3615345285587907,0.46118066086243975,0.00029302944627295066,0.4582777993652508,-0.45084956405689997,0.4611808112084604,0.00029267763048093946,0.45821638912809554,-0.45106124570594536,0.037192706569990346,0.4773521432405764,0.42812513584984535,0.9999999558059751,-0.00028972705853043054,4.6881798008196606e-05,-4.741706355829289e-05],"qvel":[-0.168683886886962,0.018394362076449122,-0.024680632432281805,0.006741791955198679,-0.0006461491769911367,-0.1671655058545063,1.7760891086726602e-05,5.359050833746612e-08,0.00019695925092093946,0.0001137194697497931,3.1014061826433165e-05,-2.1048368846533468e-05,-0.00011099896598090732,-5.218714489010259e-05,0.08276701600612295,0.0004859479442191216,0.002546904645557055,-0.0008406357573586714,-0.001698565724801424,-0.004276923716962677],"joint_position_rad":[-1.9324196631211452,-1.6156424334999169,1.3518419276859306,-1.306778678676391,-1.570902808258444,-0.3615345285587907],"joint_velocity_rad_s":[-0.168683886886962,0.018394362076449122,-0.024680632432281805,0.006741791955198679,-0.0006461491769911367,-0.1671655058545063],"linkage_position_rad":[0.46118066086243975,0.00029302944627295066,0.4582777993652508,-0.45084956405689997,0.4611808112084604,0.00029267763048093946,0.45821638912809554,-0.45106124570594536],"tcp_position_m":[0.03719999086096493,0.4770212395980466,0.4339655617589671],"tcp_quaternion_wxyz":[9.317957343415854e-05,0.707138169519563,0.7070753811201819,-7.707034190632655e-05],"object_position_m":[0.037192706569990346,0.4773521432405764,0.42812513584984535],"object_quaternion_wxyz":[0.9999999558059751,-0.00028972705853043054,4.6881798008196606e-05,-4.741706355829289e-05],"object_linear_velocity_m_s":[0.08276701600612295,0.0004859479442191216,0.002546904645557055],"object_angular_velocity_rad_s":[-0.0008411979229737049,-0.0017009639501422804,-0.004275859933795678],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632387524758617,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0884929665362,"right":46.10499450745698},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9655144698662037,-1.6214629401749574,1.3367298531001586,-1.31027121601889,-1.5708958247975122,-0.39463157452604036,180.0],"actuator_force":[1.2839412646681012,-18.99875818066039,-20.351896198631493,-2.4204478667693365,0.06810664816498502,0.16802760182579846,5.0],"issued_joint_targets_rad":[-1.9689303517610728,-1.6117259575603105,1.3462034931824343,-1.305299430336782,-1.5708942937340376,-0.39804990674997726],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9689303517610728,-1.6117259575603105,1.3462034931824343,-1.305299430336782,-1.5708942937340376,-0.39804990674997726],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.660000000000559,"qpos":[-1.9358930869808089,-1.6152626637619933,1.3513128300386645,-1.3066297750690092,-1.5709025405825572,-0.36500797786639977,0.46118066918502154,0.00029303235225288705,0.4582778105700981,-0.45084960543474084,0.4611808186665513,0.0002926642905949115,0.4582163970434376,-0.45106115308763284,0.03890147104172717,0.47735875248809967,0.4281893999307446,0.999999955649162,-0.00029018655777772164,4.716204205595397e-05,-4.763589112994941e-05],"qvel":[-0.16840715508341342,0.01913599038090232,-0.02541941884820375,0.006745779429760645,-0.0006447297471353338,-0.16688713587230208,1.8784830350100915e-05,-2.811111979395446e-07,0.0001974961525962166,0.00011353557401392556,3.215695137826081e-05,-2.1032980765114316e-05,-0.00010885260527866117,-5.266325116307297e-05,0.08277147016425465,0.0004908553305156938,0.0025525553517867445,-0.0008475323925698583,-0.0016874440612053214,-0.00427831051328481],"joint_position_rad":[-1.9358930869808089,-1.6152626637619933,1.3513128300386645,-1.3066297750690092,-1.5709025405825572,-0.36500797786639977],"joint_velocity_rad_s":[-0.16840715508341342,0.01913599038090232,-0.02541941884820375,0.006745779429760645,-0.0006447297471353338,-0.16688713587230208],"linkage_position_rad":[0.46118066918502154,0.00029303235225288705,0.4582778105700981,-0.45084960543474084,0.4611808186665513,0.0002926642905949115,0.4582163970434376,-0.45106115308763284],"tcp_position_m":[0.038908753218790726,0.47702562910599633,0.43402931975819536],"tcp_quaternion_wxyz":[9.270255210940073e-05,0.7071381605623005,0.7070753901208485,-7.725446296541561e-05],"object_position_m":[0.03890147104172717,0.47735875248809967,0.4281893999307446],"object_quaternion_wxyz":[0.999999955649162,-0.00029018655777772164,4.716204205595397e-05,-4.763589112994941e-05],"object_linear_velocity_m_s":[0.08277147016425465,0.0004908553305156938,0.0025525553517867445],"object_angular_velocity_rad_s":[-0.0008480967705447389,-0.0016898459973058628,-0.004277250499727202],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632387170910148,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0884731814169,"right":46.10497211326877},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9689327644607888,-1.6209456099028103,1.3360543938931664,-1.3101208910827347,-1.5708955176863768,-0.3980499093377902,180.0],"actuator_force":[1.283507073405417,-19.020288433994665,-20.34910475171455,-2.420135949838823,0.06798442280376094,0.16774785153498328,5.0],"issued_joint_targets_rad":[-1.97234188588404,-1.6111855860532605,1.3455115183181274,-1.305148400671955,-1.570893950241064,-0.4014615832062935],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.97234188588404,-1.6111855860532605,1.3455115183181274,-1.305148400671955,-1.570893950241064,-0.4014615832062935],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.6800000000005655,"qpos":[-1.939360679525172,-1.6148675571870137,1.3507681976202457,-1.3064806722247917,-1.5709022683300666,-0.3684755983410164,0.46118067749873515,0.0002930348811616063,0.45827782142417667,-0.45084964434068564,0.4611808261802162,0.00029265126330301096,0.4582164053438044,-0.4510610625666451,0.040610267877463316,0.47736553259541226,0.42825396662976656,0.9999999554901416,-0.0002906521344799372,4.745055094007478e-05,-4.7848695080097896e-05],"qvel":[-0.16812624670396784,0.019878090367977407,-0.026161255754717474,0.006752295398390539,-0.0006433040317613541,-0.1666045761716736,1.9813896852324568e-05,-6.17010831446178e-07,0.0001980354256904892,0.00011334672501919368,3.3305536827005334e-05,-2.1018443444175668e-05,-0.00010669501875095579,-5.3134560041397456e-05,0.08277591196880084,0.0004959845585878665,0.002558819423865364,-0.0008542574662050405,-0.0016763161508667392,-0.004279717786976486],"joint_position_rad":[-1.939360679525172,-1.6148675571870137,1.3507681976202457,-1.3064806722247917,-1.5709022683300666,-0.3684755983410164],"joint_velocity_rad_s":[-0.16812624670396784,0.019878090367977407,-0.026161255754717474,0.006752295398390539,-0.0006433040317613541,-0.1666045761716736],"linkage_position_rad":[0.46118067749873515,0.0002930348811616063,0.45827782142417667,-0.45084964434068564,0.4611808261802162,0.00029265126330301096,0.4582164053438044,-0.4510610625666451],"tcp_position_m":[0.040617548059165426,0.47703018884057075,0.4340933762316376],"tcp_quaternion_wxyz":[9.222400130473695e-05,0.7071381507275502,0.7070753999990634,-7.743718619093112e-05],"object_position_m":[0.040610267877463316,0.47736553259541226,0.42825396662976656],"object_quaternion_wxyz":[0.9999999554901416,-0.0002906521344799372,4.745055094007478e-05,-4.7848695080097896e-05],"object_linear_velocity_m_s":[0.08277591196880084,0.0004959845585878665,0.002558819423865364],"object_angular_velocity_rad_s":[-0.0008548241002364876,-0.0016787218848704748,-0.004278661541101199],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632386815434933,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08845327373597,"right":46.104949600930546},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.972344398396771,-1.6204131672821744,1.3353627970761075,-1.3099698659677783,-1.5708952064145916,-0.4014615857943166,180.0],"actuator_force":[1.2830609383890987,-19.042456337512704,-20.346298786389525,-2.4198264113323376,0.06786136091363915,0.1674638905172401,5.0],"issued_joint_targets_rad":[-1.9757466744134313,-1.6106297546224055,1.3448032883630299,-1.3049965795556657,-1.5708936027896667,-0.4048665161760568],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9757466744134313,-1.6106297546224055,1.3448032883630299,-1.3049965795556657,-1.5708936027896667,-0.4048665161760568],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.700000000000572,"qpos":[-1.9428223542723793,-1.614457101821681,1.3502079620412852,-1.3063313136387094,-1.5709019915560833,-0.371937303490478,0.461180685803085,0.00029303704028543374,0.45827783193483207,-0.45084968082184573,0.4611808337472368,0.0002926385371207834,0.45821641401796465,-0.45106097406194573,0.042319096720172214,0.4773724889863434,0.42831885006792225,0.9999999553287866,-0.00029112419182982034,4.77470975179665e-05,-4.805564797539083e-05],"qvel":[-0.16784116870038773,0.020620725732185707,-0.02690638516919033,0.006761515131169572,-0.00064187168539273,-0.16631783362559646,2.084855783833649e-05,-9.542740879598847e-07,0.00019857752035871995,0.00011315330083314471,3.446031945026458e-05,-2.1004807227356892e-05,-0.0001045253747592287,-5.360128345131756e-05,0.08278033898118452,0.0005013580036559037,0.0025657500254579516,-0.0008608049722607674,-0.0016651843576538606,-0.004281145046955971],"joint_position_rad":[-1.9428223542723793,-1.614457101821681,1.3502079620412852,-1.3063313136387094,-1.5709019915560833,-0.371937303490478],"joint_velocity_rad_s":[-0.16784116870038773,0.020620725732185707,-0.02690638516919033,0.006761515131169572,-0.00064187168539273,-0.16631783362559646],"linkage_position_rad":[0.461180685803085,0.00029303704028543374,0.45827783193483207,-0.45084968082184573,0.4611808337472368,0.0002926385371207834,0.45821641401796465,-0.45106097406194573],"tcp_position_m":[0.042326375023045155,0.477034924276163,0.4341577450191349],"tcp_quaternion_wxyz":[9.174396495536959e-05,0.7071381400189475,0.7070754107511826,-7.761851463700744e-05],"object_position_m":[0.042319096720172214,0.4773724889863434,0.42831885006792225],"object_quaternion_wxyz":[0.9999999553287866,-0.00029112419182982034,4.77470975179665e-05,-4.805564797539083e-05],"object_linear_velocity_m_s":[0.08278033898118452,0.0005013580036559037,0.0025657500254579516],"object_angular_velocity_rad_s":[-0.0008613739053559468,-0.001667593980720589,-0.004280092565465839],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323864582491665,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08843323072951,"right":46.10492695815133},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9757492865490043,-1.6198655877986345,1.3346549465241124,-1.3098180493165918,-1.5708948909753055,-0.4048665187642596,180.0],"actuator_force":[1.2826029269053834,-19.065262246781458,-20.34347696666964,-2.4195193520581597,0.06773745892826355,0.16717572566884087,5.0],"issued_joint_targets_rad":[-1.9791446316640195,-1.6100584347704165,1.3440786754790457,-1.3048438679415997,-1.570893251368864,-0.40826461997221786],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9791446316640195,-1.6100584347704165,1.3440786754790457,-1.3048438679415997,-1.570893251368864,-0.40826461997221786],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.720000000000579,"qpos":[-1.9462780248208402,-1.6140312841374793,1.3496320492771094,-1.3061816387432257,-1.5709017103119518,-0.37539300690748567,0.4611806940970043,0.0002930388362216901,0.4582778421082836,-0.45084971492027104,0.46118084136490334,0.00029262610082110053,0.4582164230546291,-0.4510608874934244,0.04402795714414229,0.47737962759590113,0.4283840656479647,0.9999999551649565,-0.00029160317547222294,4.805147370012333e-05,-4.8256906449530494e-05],"qvel":[-0.1675519248363456,0.021363971685364223,-0.02765507913510401,0.006773632120396678,-0.0006404323406940505,-0.16602691187174892,2.1889348859679066e-05,-1.2930913645760768e-06,0.0001991229407456262,0.00011295571221630226,3.56218757156438e-05,-2.099213140176767e-05,-0.00010234270523769385,-5.4063632679555434e-05,0.0827847485177259,0.0005070010388817462,0.0025734073639371883,-0.000867168324892731,-0.001654051316929817,-0.004282591967857005],"joint_position_rad":[-1.9462780248208402,-1.6140312841374793,1.3496320492771094,-1.3061816387432257,-1.5709017103119518,-0.37539300690748567],"joint_velocity_rad_s":[-0.1675519248363456,0.021363971685364223,-0.02765507913510401,0.006773632120396678,-0.0006404323406940505,-0.16602691187174892],"linkage_position_rad":[0.4611806940970043,0.0002930388362216901,0.4582778421082836,-0.45084971492027104,0.46118084136490334,0.00029262610082110053,0.4582164230546291,-0.4510608874934244],"tcp_position_m":[0.044035233683410474,0.4770398414002071,0.4342224412134444],"tcp_quaternion_wxyz":[9.126248561047218e-05,0.7071381284385031,0.7070754223751875,-7.779845394029314e-05],"object_position_m":[0.04402795714414229,0.47737962759590113,0.4283840656479647],"object_quaternion_wxyz":[0.9999999551649565,-0.00029160317547222294,4.805147370012333e-05,-4.8256906449530494e-05],"object_linear_velocity_m_s":[0.0827847485177259,0.0005070010388817462,0.0025734073639371883],"object_angular_velocity_rad_s":[-0.0008677395995089069,-0.001656464924772124,-0.004281543245878951],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323860992652864,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08841303769563,"right":46.104904170814045},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9791473432358313,-1.6193028431061123,1.3339307145479768,-1.3096653420802131,-1.5708945713566451,-0.40826462256056945,180.0],"actuator_force":[1.2821331045561237,-19.088706611411453,-20.34063780422366,-2.4192148805334455,0.06761271172274519,0.16688336063302245,5.0],"issued_joint_targets_rad":[-1.9825356711779702,-1.6094715934491193,1.3433375384303006,-1.3046901579710306,-1.570892895961438,-0.41165580813709424],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.9825356711779702,-1.6094715934491193,1.3433375384303006,-1.3046901579710306,-1.570892895961438,-0.41165580813709424],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.7400000000005855,"qpos":[-1.949727604769843,-1.613590088747093,1.349040378933929,-1.3060315824544393,-1.5709014246455386,-0.3788426221905799,0.46118070237871683,0.0002930402748540628,0.4582778519494732,-0.4508497466726775,0.46118084902987305,0.0002926139433860501,0.4582164324422958,-0.4510608027813492,0.04573684864592404,0.47738695494145883,0.4284496302321982,0.9999999549984958,-0.0002920895829704365,4.8363491828813154e-05,-4.845261085416978e-05],"qvel":[-0.1672585150071204,0.022107917044655746,-0.028407645227589783,0.006788861430723458,-0.0006389855995331647,-0.1657318106260129,2.293688742923971e-05,-1.633682990952703e-06,0.00019967225606072636,0.00011275441155667025,3.679087243421577e-05,-2.0980485934033493e-05,-0.00010014587732884636,-5.452181707730571e-05,0.08278913760502318,0.0005129425879387355,0.0025818599910521823,-0.0008733402345063517,-0.0016429199720644763,-0.004284058406129132],"joint_position_rad":[-1.949727604769843,-1.613590088747093,1.349040378933929,-1.3060315824544393,-1.5709014246455386,-0.3788426221905799],"joint_velocity_rad_s":[-0.1672585150071204,0.022107917044655746,-0.028407645227589783,0.006788861430723458,-0.0006389855995331647,-0.1657318106260129],"linkage_position_rad":[0.46118070237871683,0.0002930402748540628,0.4582778519494732,-0.4508497466726775,0.46118084902987305,0.0002926139433860501,0.4582164324422958,-0.4510608027813492],"tcp_position_m":[0.045744123536327216,0.4770449467846285,0.4342874813327787],"tcp_quaternion_wxyz":[9.077960524647347e-05,0.7071381159864725,0.7070754348708137,-7.79770138875035e-05],"object_position_m":[0.04573684864592404,0.47738695494145883,0.4284496302321982],"object_quaternion_wxyz":[0.9999999549984958,-0.0002920895829704365,4.8363491828813154e-05,-4.845261085416978e-05],"object_linear_velocity_m_s":[0.08278913760502318,0.0005129425879387355,0.0025818599910521823],"object_angular_velocity_rad_s":[-0.0008739138927089541,-0.0016453376655909168,-0.004283013436969325],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632385738391883,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08839267764776,"right":46.10488122265603},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9825384820039456,-1.6187249003349014,1.3331899600724293,-1.3095116363971542,-1.5708942475408063,-0.41165581072556356,180.0],"actuator_force":[1.2816515346430606,-19.112789993479055,-20.337779631963258,-2.418913114429756,0.06748711231944071,0.16658679510945262,5.0],"issued_joint_targets_rad":[-1.9859197054600795,-1.608869192209222,1.34257972035633,-1.3045353316029085,-1.570892536542755,-0.4150399931780341],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.9859197054600795,-1.608869192209222,1.34257972035633,-1.3045353316029085,-1.570892536542755,-0.4150399931780341],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.760000000000592,"qpos":[-1.9531710076229292,-1.613133498066839,1.3484328633742009,-1.3058810746306624,-1.5709011346014998,-0.38228606284803657,0.46118071064554483,0.00029304136132018223,0.4582778614618605,-0.4508497761100361,0.46118085673797293,0.00029260205394863277,0.45821644216902885,-0.45106071984570006,0.04744577063346469,0.477394478207616,0.428515562354767,0.9999999548292265,-0.00029258397548585064,4.868298656251659e-05,-4.864288463293193e-05],"qvel":[-0.16696093439799725,0.022852666824622652,-0.029164433388671654,0.006807443859766318,-0.0006375310223509094,-0.16543252483276885,2.3991890680680727e-05,-1.976306369356523e-06,0.0002002261135096899,0.00011254990476622758,3.7968086316579995e-05,-2.0969953390156066e-05,-9.793355664262803e-05,-5.4976044269827614e-05,0.0827935029247124,0.0005192158112888013,0.0025911864182038935,-0.0008793125554734585,-0.0016317936212335057,-0.0042855444209441585],"joint_position_rad":[-1.9531710076229292,-1.613133498066839,1.3484328633742009,-1.3058810746306624,-1.5709011346014998,-0.38228606284803657],"joint_velocity_rad_s":[-0.16696093439799725,0.022852666824622652,-0.029164433388671654,0.006807443859766318,-0.0006375310223509094,-0.16543252483276885],"linkage_position_rad":[0.46118071064554483,0.00029304136132018223,0.4582778614618605,-0.4508497761100361,0.46118085673797293,0.00029260205394863277,0.45821644216902885,-0.45106071984570006],"tcp_position_m":[0.04745304399023374,0.47705024767103293,0.43435288352655965],"tcp_quaternion_wxyz":[9.02953661875893e-05,0.7071381026611737,0.7070754482397342,-7.81542103467405e-05],"object_position_m":[0.04744577063346469,0.477394478207616,0.428515562354767],"object_quaternion_wxyz":[0.9999999548292265,-0.00029258397548585064,4.868298656251659e-05,-4.864288463293193e-05],"object_linear_velocity_m_s":[0.0827935029247124,0.0005192158112888013,0.0025911864182038935],"object_angular_velocity_rad_s":[-0.0008798886391176981,-0.00163421550732396,-0.0042845031957942075],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632385375533784,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08837213077275,"right":46.1048580947577},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9859226153638125,-1.6181317212469326,1.3324325264107564,-1.309356814223457,-1.570893919502928,-0.41503999576658973,180.0],"actuator_force":[1.2811582774320414,-19.13751309003601,-20.334900571420803,-2.4186141823739717,0.06736065152097126,0.1662860240002999,5.0],"issued_joint_targets_rad":[-1.9892966456494405,-1.6082511861523587,1.3418050460257025,-1.304379258923748,-1.5708921730792802,-0.41841708623962187],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.9892966456494405,-1.6082511861523587,1.3418050460257025,-1.304379258923748,-1.5708921730792802,-0.41841708623962187],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.780000000000599,"qpos":[-1.9566081466697391,-1.6126614919114257,1.3478094066655504,-1.305730039421187,-1.5709008402215465,-0.3857232421804344,0.4611807188936578,0.00029304209996932885,0.45827787064714853,-0.45084980325704965,0.4611808644839426,0.00029259042172335244,0.4582164522221752,-0.4510606386053338,0.049154722412957215,0.47740220534818795,0.4285818824772024,0.9999999546569472,-0.0002930869923769145,4.900981742683933e-05,-4.8827833343476655e-05],"qvel":[-0.1666591724323296,0.02359834548714819,-0.029925844496815592,0.0068296511553355525,-0.0006360681151499514,-0.1651290436024058,2.505519864248316e-05,-2.321264824759605e-06,0.00020078525660775177,0.00011234276509180938,3.915442969618103e-05,-2.096063210151288e-05,-9.570416039634576e-05,-5.542652066800709e-05,0.08279784074459941,0.0005258589670465005,0.0026014771421677303,-0.0008850760971074879,-0.0016206759760463614,-0.004287050301859782],"joint_position_rad":[-1.9566081466697391,-1.6126614919114257,1.3478094066655504,-1.305730039421187,-1.5709008402215465,-0.3857232421804344],"joint_velocity_rad_s":[-0.1666591724323296,0.02359834548714819,-0.029925844496815592,0.0068296511553355525,-0.0006360681151499514,-0.1651290436024058],"linkage_position_rad":[0.4611807188936578,0.00029304209996932885,0.45827787064714853,-0.45084980325704965,0.4611808644839426,0.00029259042172335244,0.4582164522221752,-0.4510606386053338],"tcp_position_m":[0.04916199435299099,0.47705575207311085,0.4344186678227726],"tcp_quaternion_wxyz":[8.980981218949191e-05,0.7071380884587297,0.7070754624858162,-7.833006769544115e-05],"object_position_m":[0.049154722412957215,0.47740220534818795,0.4285818824772024],"object_quaternion_wxyz":[0.9999999546569472,-0.0002930869923769145,4.900981742683933e-05,-4.8827833343476655e-05],"object_linear_velocity_m_s":[0.08279784074459941,0.0005258589670465005,0.0026014771421677303],"object_angular_velocity_rad_s":[-0.0008856546480502407,-0.0016231021684934024,-0.004286012809441891],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632385010592358,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088351373868726,"right":46.10483476502305},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.989299654461567,-1.6175232611944583,1.3316582385201599,-1.3092007456425456,-1.5708935872096705,-0.41841708882823236,180.0],"actuator_force":[1.2806533892758125,-19.162876760924973,-20.331998492054936,-2.4183182262128184,0.067233317452974,0.16598103634160566,5.0],"issued_joint_targets_rad":[-1.992666401108429,-1.6076175226256768,1.3410133184130253,-1.3042217960405615,-1.570891805526696,-0.4217869966933339],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.992666401108429,-1.6076175226256768,1.3410133184130253,-1.3042217960405615,-1.570891805526696,-0.4217869966933339],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.800000000000606,"qpos":[-1.9600389348406668,-1.6121740470029753,1.3471699033062108,-1.305578394475863,-1.5709005415447204,-0.38915407313628897,0.4611807271177375,0.00029304249430715167,0.458277879504921,-0.45084982813147534,0.4611808722610914,0.0002925790359196332,0.4582164625879832,-0.45106055897692415,0.050863703172772834,0.47741014520988106,0.4286486132988318,0.9999999544814261,-0.0002935993696901736,4.934387224997535e-05,-4.900754322034146e-05],"qvel":[-0.16635321144199675,0.024345101060235175,-0.030692341226830996,0.006855792627707064,-0.0006345963133431578,-0.16482134886791977,2.61278046451212e-05,-2.668919141545229e-06,0.0002013505484724371,0.00011213364909130697,4.035098413176935e-05,-2.0952639659631204e-05,-9.34557955069602e-05,-5.5873451964326437e-05,0.08280214683188393,0.000532916502492259,0.0026128372131548347,-0.0008906203859233955,-0.0016095712364179217,-0.00428857660488494],"joint_position_rad":[-1.9600389348406668,-1.6121740470029753,1.3471699033062108,-1.305578394475863,-1.5709005415447204,-0.38915407313628897],"joint_velocity_rad_s":[-0.16635321144199675,0.024345101060235175,-0.030692341226830996,0.006855792627707064,-0.0006345963133431578,-0.16482134886791977],"linkage_position_rad":[0.4611807271177375,0.00029304249430715167,0.458277879504921,-0.45084982813147534,0.4611808722610914,0.0002925790359196332,0.4582164625879832,-0.45106055897692415],"tcp_position_m":[0.05087097381608675,0.4770614689008334,0.4344848564280047],"tcp_quaternion_wxyz":[8.932298975927388e-05,0.7071380733727243,0.7070754776154654,-7.85046219376505e-05],"object_position_m":[0.050863703172772834,0.47741014520988106,0.4286486132988318],"object_quaternion_wxyz":[0.9999999544814261,-0.0002935993696901736,4.934387224997535e-05,-4.900754322034146e-05],"object_linear_velocity_m_s":[0.08280214683188393,0.000532916502492259,0.0026128372131548347],"object_angular_velocity_rad_s":[-0.0008912014462743085,-0.0016120018570788786,-0.004287542831019368],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632384643466191,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08833037946094,"right":46.10481120735203},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.992669508668292,-1.6168994678226698,1.3308668995808712,-1.3090432867581094,-1.5708932506174174,-0.4217869992819675,180.0],"actuator_force":[1.2801369215485465,-19.18888206348265,-20.32907095994642,-2.418025403893921,0.0671050949858909,0.1656718139527129,5.0],"issued_joint_targets_rad":[-1.9960288789026386,-1.6069681395765747,1.3402043143828941,-1.304062782423555,-1.5708914338274937,-0.4251496316183453],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.9960288789026386,-1.6069681395765747,1.3402043143828941,-1.304062782423555,-1.5708914338274937,-0.4251496316183453],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.820000000000612,"qpos":[-1.9634632845267472,-1.6116711363701062,1.346514236664058,-1.3054260499761714,-1.570900238607697,-0.39257846813326547,0.4611807353105148,0.0002930425469296209,0.45827788803214975,-0.4508498507432067,0.4611808800608245,0.00029256788563296847,0.458216473251076,-0.45106048087357864,0.05257271196362359,0.47741830768374555,0.42871578013760114,0.9999999543023927,-0.0002941219639047636,4.968507178295949e-05,-4.918207913777464e-05],"qvel":[-0.16604302496630427,0.025093110420387883,-0.0314644619759225,0.0068862236288722315,-0.000633114961313139,-0.16450941366559638,2.7210892595687703e-05,-3.0197028487995197e-06,0.00020192300070164313,0.00011192332745903415,4.155904184071159e-05,-2.0946118080024083e-05,-9.118618014972526e-05,-5.631703906381139e-05,0.08280641634230738,0.0005404404545909498,0.0026253895292660365,-0.000895933363070874,-0.001598484187693535,-0.004290124200224702],"joint_position_rad":[-1.9634632845267472,-1.6116711363701062,1.346514236664058,-1.3054260499761714,-1.570900238607697,-0.39257846813326547],"joint_velocity_rad_s":[-0.16604302496630427,0.025093110420387883,-0.0314644619759225,0.0068862236288722315,-0.000633114961313139,-0.16450941366559638],"linkage_position_rad":[0.4611807353105148,0.0002930425469296209,0.45827788803214975,-0.4508498507432067,0.4611808800608245,0.00029256788563296847,0.458216473251076,-0.45106048087357864],"tcp_position_m":[0.05257998143516406,0.47706740811258025,0.43455147409497297],"tcp_quaternion_wxyz":[8.883494981761151e-05,0.7071380573937306,0.7070754936380953,-7.867792477739575e-05],"object_position_m":[0.05257271196362359,0.47741830768374555,0.42871578013760114],"object_quaternion_wxyz":[0.9999999543023927,-0.0002941219639047636,4.968507178295949e-05,-4.918207913777464e-05],"object_linear_velocity_m_s":[0.08280641634230738,0.0005404404545909498,0.0026253895292660365],"object_angular_velocity_rad_s":[-0.0008965169754948545,-0.0016009193679136743,-0.004289094127296794],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632384274052254,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08830911475077,"right":46.10478739066003},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9960320850603301,-1.6162602794342527,1.3300582866826907,-1.3088842770367377,-1.5708929096699717,-0.42514963420697016,180.0],"actuator_force":[1.2796089193557236,-19.215530296448378,-20.326115172365917,-2.417735893170402,0.06697596499384417,0.16535832970728848,5.0],"issued_joint_targets_rad":[-1.99938398313484,-1.6063029634521178,1.3393777791774997,-1.3039020375118149,-1.5708910579078432,-0.4285048951366077],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.99938398313484,-1.6063029634521178,1.3393777791774997,-1.3039020375118149,-1.5708910579078432,-0.4285048951366077],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.840000000000619,"qpos":[-1.9668811073545043,-1.611152728604204,1.3458422770437766,-1.3052729074343659,-1.5708999314451544,-0.39599633883481306,0.4611807434621282,0.00029304225943652275,0.45827789622251136,-0.4508498710930774,0.46118088787198636,0.0002925569597009705,0.4582164841937149,-0.45106040420298454,0.05428174767378857,0.47742670389267167,0.4287834114024621,0.9999999541195306,-0.000294655782870787,5.0033375959980494e-05,-4.9351481753234116e-05],"qvel":[-0.16572857554601692,0.025842586156906138,-0.03224283895672448,0.0069213565685327366,-0.0006316232860062881,-0.16419319990480596,2.8305891205110097e-05,-3.3741426396994847e-06,0.00020250381500941126,0.00011171271109013662,4.27801655012643e-05,-2.094124047696736e-05,-8.889253448254758e-05,-5.6757478528134665e-05,0.08281064367760647,0.000548492270705973,0.0026392791184239313,-0.0009010009937997278,-0.0015874203252089106,-0.0042916943352946605],"joint_position_rad":[-1.9668811073545043,-1.611152728604204,1.3458422770437766,-1.3052729074343659,-1.5708999314451544,-0.39599633883481306],"joint_velocity_rad_s":[-0.16572857554601692,0.025842586156906138,-0.03224283895672448,0.0069213565685327366,-0.0006316232860062881,-0.16419319990480596],"linkage_position_rad":[0.4611807434621282,0.00029304225943652275,0.45827789622251136,-0.4508498710930774,0.46118088787198636,0.0002925569597009705,0.4582164841937149,-0.45106040420298454],"tcp_position_m":[0.05428901610575315,0.4770735809035103,0.43461854857765386],"tcp_quaternion_wxyz":[8.834574985902922e-05,0.7071380405086796,0.7070755105667588,-7.885004904707004e-05],"object_position_m":[0.05428174767378857,0.47742670389267167,0.4287834114024621],"object_quaternion_wxyz":[0.9999999541195306,-0.000294655782870787,5.0033375959980494e-05,-4.9351481753234116e-05],"object_linear_velocity_m_s":[0.08281064367760647,0.000548492270705973,0.0026392791184239313],"object_angular_velocity_rad_s":[-0.0009015872018872882,-0.001589860207597984,-0.004290667941591883],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632383902248118,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0882875401594,"right":46.10476327752701},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-1.9993872877537329,-1.6156056229009248,1.3292321453158125,-1.308723535913525,-1.570892564295564,-0.42850489772519207,180.0],"actuator_force":[1.279069419949792,-19.242823056204088,-20.323127873238718,-2.4174498964327995,0.06684590339580154,0.1650405452911059,5.0],"issued_joint_targets_rad":[-2.002731614080228,-1.6056219064782824,1.3385334192749863,-1.3037393563154906,-1.5708906776734815,-0.43185268754957246],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.840000000000619,"joint_targets_rad":[-2.002731614080228,-1.6056219064782824,1.3385334192749863,-1.3037393563154906,-1.5708906776734815,-0.43185268754957246],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.860000000000626,"qpos":[-1.970292313901568,-1.6106187869274375,1.3451538792641597,-1.3051188581868571,-1.570899620090257,-0.39940759586820795,0.46118075155922394,0.00029304163233039965,0.458277904065447,-0.4508498891712599,0.46118089567993675,0.0002925462465123365,0.45821649539475545,-0.4510603288648965,0.05599080899777946,0.47743534642634144,0.42885153918658975,0.9999999539324608,-0.00029520202676264136,5.038879243568634e-05,-4.9515763531473435e-05],"qvel":[-0.1654098118198498,0.02659378562299409,-0.03302822204870487,0.006961675434586212,-0.0006301203622199031,-0.16387265543187968,2.94145429013946e-05,-3.73288635145967e-06,0.0002030944364188627,0.00011150290163015478,4.4016264823873524e-05,-2.0938220502620376e-05,-8.657143658197255e-05,-5.719495468825371e-05,0.08281482229883029,0.0005571452104191859,0.0026546787856698874,-0.0009058067564348873,-0.0015763860201825047,-0.004293288719714729],"joint_position_rad":[-1.970292313901568,-1.6106187869274375,1.3451538792641597,-1.3051188581868571,-1.570899620090257,-0.39940759586820795],"joint_velocity_rad_s":[-0.1654098118198498,0.02659378562299409,-0.03302822204870487,0.006961675434586212,-0.0006301203622199031,-0.16387265543187968],"linkage_position_rad":[0.46118075155922394,0.00029304163233039965,0.458277904065447,-0.4508498891712599,0.46118089567993675,0.0002925462465123365,0.45821649539475545,-0.4510603288648965],"tcp_position_m":[0.05599807653264235,0.4770799999416666,0.4346861112017686],"tcp_quaternion_wxyz":[8.785545684028829e-05,0.7071380227000026,0.7070755284190049,-7.90210960713338e-05],"object_position_m":[0.05599080899777946,0.47743534642634144,0.42885153918658975],"object_quaternion_wxyz":[0.9999999539324608,-0.00029520202676264136,5.038879243568634e-05,-4.9515763531473435e-05],"object_linear_velocity_m_s":[0.08281482229883029,0.0005571452104191859,0.0026546787856698874],"object_angular_velocity_rad_s":[-0.0009063956051636741,-0.0015788307608593434,-0.004292265978590331],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323835279555456,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08826560741302,"right":46.10473882241434},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.002735017040153,-1.614935410957844,1.3283881822332335,-1.308560858394145,-1.5708922144029216,-0.4318526901380846,180.0],"actuator_force":[1.2785184507692975,-19.27076231001047,-20.320105242370573,-2.4171676471025876,0.06671487988967328,0.1647184082496551,5.0],"issued_joint_targets_rad":[-2.0060716670461067,-1.6049248630788027,1.3376708929878314,-1.3035745036262083,-1.570890293004211,-0.43519290419985657],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.860000000000626,"joint_targets_rad":[-2.0060716670461067,-1.6049248630788027,1.3376708929878314,-1.3035745036262083,-1.570890293004211,-0.43519290419985657],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.880000000000632,"qpos":[-1.9736968133331112,-1.6100692680085553,1.3444488795795393,-1.3049637814779231,-1.5708993045753255,-0.4028121484643201,0.46118075958365845,0.0002930406648910043,0.4582779115448201,-0.4508499049551128,0.4611809034652199,0.0002925357337426661,0.4582165068281315,-0.4510602547476071,0.057699894396131025,0.477444249639664,0.4289202000226706,0.999999953740727,-0.0002957621432236136,5.075138837897463e-05,-4.967490318355512e-05],"qvel":[-0.1650866646389595,0.027347023066774168,-0.03382151075634947,0.00700775524635127,-0.0006286050660499345,-0.16354771010009023,3.053900264976252e-05,-4.096741161336953e-06,0.00020369662941106242,0.00011129525054037004,4.526970577738438e-05,-2.09373255899467e-05,-8.421862014798703e-05,-5.762963304342836e-05,0.08281894447879305,0.0005664875659620445,0.0026717966833722092,-0.0009103309622492744,-0.0015653887388692783,-0.004294909640201683],"joint_position_rad":[-1.9736968133331112,-1.6100692680085553,1.3444488795795393,-1.3049637814779231,-1.5708993045753255,-0.4028121484643201],"joint_velocity_rad_s":[-0.1650866646389595,0.027347023066774168,-0.03382151075634947,0.00700775524635127,-0.0006286050660499345,-0.16354771010009023],"linkage_position_rad":[0.46118075958365845,0.0002930406648910043,0.4582779115448201,-0.4508499049551128,0.4611809034652199,0.0002925357337426661,0.4582165068281315,-0.4510602547476071],"tcp_position_m":[0.05770716119066613,0.4770866796679597,0.43475419758963707],"tcp_quaternion_wxyz":[8.7364151140002e-05,0.7071380039444517,0.7070755472180563,-7.919120584901516e-05],"object_position_m":[0.057699894396131025,0.477444249639664,0.4289202000226706],"object_quaternion_wxyz":[0.999999953740727,-0.0002957621432236136,5.075138837897463e-05,-4.967490318355512e-05],"object_linear_velocity_m_s":[0.08281894447879305,0.0005664875659620445,0.0026717966833722092],"object_angular_velocity_rad_s":[-0.0009109224985694851,-0.0015678385103360722,-0.004293890519006385],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632383151086548,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.088243256772834,"right":46.10471396909219},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0060751682473983,-1.614249538641672,1.3275260560543032,-1.3083960092651175,-1.570891859876011,-0.43519290678826494,180.0],"actuator_force":[1.2779560270091679,-19.29935049294272,-20.317042747932646,-2.4168894182323584,0.0665828562622437,0.1643918480365869,5.0],"issued_joint_targets_rad":[-2.0094040308413765,-1.6042117050753804,1.3367897978607763,-1.303407206256927,-1.5708899037464104,-0.43852543394342175],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.880000000000632,"joint_targets_rad":[-2.0094040308413765,-1.6042117050753804,1.3367897978607763,-1.303407206256927,-1.5708899037464104,-0.43852543394342175],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.900000000000639,"qpos":[-1.9770945129304607,-1.6095041204345013,1.3437270917069524,-1.3048075419843643,-1.570898984932823,-0.4062099039908565,0.4611807675106134,0.00029303935503208856,0.4582779186369949,-0.45084991840626326,0.4611809112016243,0.0002925254079813709,0.4582165184606173,-0.45106018172294315,0.05940900204296327,0.47745343003770424,0.42898943585962535,0.9999999535437727,-0.00029633790305535834,5.1121307007642704e-05,-4.9828837823764696e-05],"qvel":[-0.16475904176959824,0.028102686191815093,-0.034623797821787705,0.0070602885974880404,-0.0006270760111128503,-0.16321827041044434,3.168197386980066e-05,-4.466728324910674e-06,0.00020431258264428956,0.0001110914504512919,4.65434614546271e-05,-2.0938895736501304e-05,-8.182869116379258e-05,-5.806164210311936e-05,0.08282300096816331,0.0005766270604193595,0.0026908866471888147,-0.000914549835105138,-0.0015544373411104614,-0.0042965601198556806],"joint_position_rad":[-1.9770945129304607,-1.6095041204345013,1.3437270917069524,-1.3048075419843643,-1.570898984932823,-0.4062099039908565],"joint_velocity_rad_s":[-0.16475904176959824,0.028102686191815093,-0.034623797821787705,0.0070602885974880404,-0.0006270760111128503,-0.16321827041044434],"linkage_position_rad":[0.4611807675106134,0.00029303935503208856,0.4582779186369949,-0.45084991840626326,0.4611809112016243,0.0002925254079813709,0.4582165184606173,-0.45106018172294315],"tcp_position_m":[0.05941626827371379,0.477093636683208,0.4348228485954031],"tcp_quaternion_wxyz":[8.687193212919112e-05,0.7071379842114602,0.7070755669944471,-7.936057141695725e-05],"object_position_m":[0.05940900204296327,0.47745343003770424,0.42898943585962535],"object_quaternion_wxyz":[0.9999999535437727,-0.00029633790305535834,5.1121307007642704e-05,-4.9828837823764696e-05],"object_linear_velocity_m_s":[0.08282300096816331,0.0005766270604193595,0.0026908866471888147],"object_angular_velocity_rad_s":[-0.0009151441086967726,-0.0015568923359908784,-0.004295544578550451],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323827715733665,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08822041330376,"right":46.10468864717886},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.009407630210098,-1.6135478785155197,1.326645364669356,-1.308228715333461,-1.570891500566883,-0.4385254365316953,180.0],"actuator_force":[1.277382148565266,-19.328590638762762,-20.313934946478184,-2.4166155342970796,0.0664497840812146,0.1640607706250421,5.0],"issued_joint_targets_rad":[-2.0127285856803208,-1.6034822751209425,1.335889653429122,-1.3032371424256546,-1.570889509702622,-0.4418501570571126],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.900000000000639,"joint_targets_rad":[-2.0127285856803208,-1.6034822751209425,1.335889653429122,-1.3032371424256546,-1.570889509702622,-0.4418501570571126],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.920000000000646,"qpos":[-1.9804853174697779,-1.6089232827024864,1.3429883016084672,-1.3046499865612124,-1.5708986611968716,-0.4096007673375957,0.4611807753057536,0.00029303769913972203,0.4582779253079841,-0.45084992946655217,0.46118091885325657,0.00029251525418801387,0.4582165302484274,-0.45106010963887233,0.06111812975632132,0.47746290678088993,0.4290592953482595,0.9999999533409043,-0.00029693150634015113,5.149879120229597e-05,-4.997745174989501e-05],"qvel":[-0.16442682051736082,0.028861259240724343,-0.03543642999244628,0.0071201226325205026,-0.0006255314591480641,-0.1628842120481558,3.284690610846807e-05,-4.8441617705057085e-06,0.00020494506124943683,0.00011089366255735915,4.784133094457812e-05,-2.0943371742933907e-05,-7.939471836959084e-05,-5.849104482225641e-05,0.08282698053660578,0.0005876969809178672,0.0027122626050270792,-0.0009184342401495822,-0.001543542490934604,-0.004298244141849997],"joint_position_rad":[-1.9804853174697779,-1.6089232827024864,1.3429883016084672,-1.3046499865612124,-1.5708986611968716,-0.4096007673375957],"joint_velocity_rad_s":[-0.16442682051736082,0.028861259240724343,-0.03543642999244628,0.0071201226325205026,-0.0006255314591480641,-0.1628842120481558],"linkage_position_rad":[0.4611807753057536,0.00029303769913972203,0.4582779253079841,-0.45084992946655217,0.46118091885325657,0.00029251525418801387,0.4582165302484274,-0.45106010963887233],"tcp_position_m":[0.06112539562721406,0.47710089025628893,0.43489211153291735],"tcp_quaternion_wxyz":[8.637892621883999e-05,0.7071379634608247,0.7070755877883373,-7.95294595719965e-05],"object_position_m":[0.06111812975632132,0.47746290678088993,0.4290592953482595],"object_quaternion_wxyz":[0.9999999533409043,-0.00029693150634015113,5.149879120229597e-05,-4.997745174989501e-05],"object_linear_velocity_m_s":[0.08282698053660578,0.0005876969809178672,0.0027122626050270792],"object_angular_velocity_rad_s":[-0.0009190313044223606,-0.0015460029269212718,-0.004297232131173532],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632382389385157,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08819698133932,"right":46.104662767010105},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0127322831751457,-1.6128302741345995,1.3257456280068582,-1.3080586548101203,-1.5708911362857259,-0.44185015964522095,180.0],"actuator_force":[1.2767967962081457,-19.358486560515757,-20.310775206239214,-2.416346387705971,0.06631560148764493,0.16372505100295598,5.0],"issued_joint_targets_rad":[-2.016045200243867,-1.6027363775014722,1.3349698770686633,-1.3030639268872521,-1.570889110616726,-0.4451669423052772],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.920000000000646,"joint_targets_rad":[-2.016045200243867,-1.6027363775014722,1.3349698770686633,-1.3030639268872521,-1.570889110616726,-0.4451669423052772],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.940000000000652,"qpos":[-1.9838691283871916,-1.6083266805278396,1.3422322604991423,-1.3044909398759919,-1.5708983334056492,-0.41298464009102104,0.46118078292087145,0.0002930356919108324,0.4582779315091367,-0.45084993805232954,0.46118092637004404,0.0002925052548758495,0.45821654213193164,-0.4510600383083756,0.0628272749036518,0.477472702361471,0.42912983556833456,0.9999999531312458,-0.0002975457348965666,5.188421798569299e-05,-5.012056008801192e-05],"qvel":[-0.16408983720756745,0.029623355947912842,-0.03626109473123789,0.007188311798160132,-0.0006239691914994591,-0.16254536923552312,3.403828625002807e-05,-5.230765237010614e-06,0.0002055976308899428,0.00011070470931150476,4.916826250277928e-05,-2.0951337533709956e-05,-7.690762616760404e-05,-5.8917787588027624e-05,0.08283086932809916,0.0005998649377613933,0.0027363191483796368,-0.0009219478889132936,-0.0015327172358955935,-0.004299966972408299],"joint_position_rad":[-1.9838691283871916,-1.6083266805278396,1.3422322604991423,-1.3044909398759919,-1.5708983334056492,-0.41298464009102104],"joint_velocity_rad_s":[-0.16408983720756745,0.029623355947912842,-0.03626109473123789,0.007188311798160132,-0.0006239691914994591,-0.16254536923552312],"linkage_position_rad":[0.46118078292087145,0.0002930356919108324,0.4582779315091367,-0.45084993805232954,0.46118092637004404,0.0002925052548758495,0.45821654213193164,-0.4510600383083756],"tcp_position_m":[0.06283454065686359,0.4771084630047949,0.43496204182046055],"tcp_quaternion_wxyz":[8.588529879881079e-05,0.7071379416393405,0.7070756096528733,-7.969824150574793e-05],"object_position_m":[0.0628272749036518,0.477472702361471,0.42912983556833456],"object_quaternion_wxyz":[0.9999999531312458,-0.0002975457348965666,5.188421798569299e-05,-5.012056008801192e-05],"object_linear_velocity_m_s":[0.08283086932809916,0.0005998649377613933,0.0027363191483796368],"object_angular_velocity_rad_s":[-0.0009225478023577883,-0.0015351833624326515,-0.004298958431406395],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463238200455615,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08817283631559,"right":46.10463621207411},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0160489958653187,-1.6120965308913295,1.3248262638952784,-1.3078854424413517,-1.570890766786709,-0.445166944893191,180.0],"actuator_force":[1.2761999267727333,-19.389043106145436,-20.307555315233003,-2.416082462495865,0.06618022862016915,0.16338452246733937,5.0],"issued_joint_targets_rad":[-2.01935372744647,-1.6019737648961945,1.3340297492369069,-1.3028870895371865,-1.5708887061522232,-0.44847564271448925],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.940000000000652,"joint_targets_rad":[-2.01935372744647,-1.6019737648961945,1.3340297492369069,-1.3028870895371865,-1.5708887061522232,-0.44847564271448925],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.960000000000659,"qpos":[-1.9872458426313233,-1.6077142231483506,1.3414586752556237,-1.3043301984128346,-1.5708980016052998,-0.41636141940095256,0.46118079028696374,0.0002930333262331585,0.45827793717039694,-0.4508499440462108,0.461180933680579,0.0002924953888443141,0.4582165540271666,-0.45105996749204913,0.06453643427033148,0.4774828435305215,0.4292011244040706,0.9999999529136675,-0.0002981841774875519,5.227815021577642e-05,-5.025788436800895e-05],"qvel":[-0.1637478717594501,0.030389767895975407,-0.037099947396453996,0.007266195198040253,-0.0006223863188873557,-0.16220151911535613,3.526207897963932e-05,-5.628851101964026e-06,0.00020627499732144868,0.00011052837332351012,5.0530842276232923e-05,-2.0963587002932714e-05,-7.43552705979514e-05,-5.9341600618251084e-05,0.08283464993339672,0.0006133457236465747,0.0027635617219254165,-0.0009250447384206488,-0.0015219778422066639,-0.004301735637982198],"joint_position_rad":[-1.9872458426313233,-1.6077142231483506,1.3414586752556237,-1.3043301984128346,-1.5708980016052998,-0.41636141940095256],"joint_velocity_rad_s":[-0.1637478717594501,0.030389767895975407,-0.037099947396453996,0.007266195198040253,-0.0006223863188873557,-0.16220151911535613],"linkage_position_rad":[0.46118079028696374,0.0002930333262331585,0.45827793717039694,-0.4508499440462108,0.461180933680579,0.0002924953888443141,0.4582165540271666,-0.45105996749204913],"tcp_position_m":[0.06454370020226127,0.47711638182819244,0.43503270523559],"tcp_quaternion_wxyz":[8.539127248000275e-05,0.70713791867581,0.7070756326591703,-7.986743938264314e-05],"object_position_m":[0.06453643427033148,0.4774828435305215,0.4292011244040706],"object_quaternion_wxyz":[0.9999999529136675,-0.0002981841774875519,5.227815021577642e-05,-5.025788436800895e-05],"object_linear_velocity_m_s":[0.08283464993339672,0.0006133457236465747,0.0027635617219254165],"object_angular_velocity_rad_s":[-0.0009256475664812332,-0.0015244499497301229,-0.004300730490599141],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323816172341006,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.08814781227432,"right":46.10460882744163},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0193576212496245,-1.6113464028346778,1.323886553320788,-1.3077086081118519,-1.5708903917472505,-0.4484756453021807,180.0],"actuator_force":[1.2755914671774917,-19.42026653104449,-20.30426491108983,-2.415824369312645,0.06604356091338559,0.16303896092156833,5.0],"issued_joint_targets_rad":[-2.0201693567148524,-1.6016632607776164,1.333672340709809,-1.302838290312062,-1.5708818772503446,-0.44929715912387064],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.960000000000659,"joint_targets_rad":[-2.0201693567148524,-1.6016632607776164,1.333672340709809,-1.302838290312062,-1.5708818772503446,-0.44929715912387064],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":6.980000000000666,"qpos":[-1.990420586347178,-1.6071111438798626,1.3407236740585926,-1.3041845980773434,-1.5709061319265647,-0.4195145314969784,0.46118169748428284,0.0002939548204662819,0.4582804367489053,-0.4508561756083551,0.4611817586696926,0.00029155546041190504,0.4582159006315252,-0.45105546903165716,0.06614679794848609,0.4774967540149786,0.429256554426229,0.9999999482994956,-0.00030799720479898773,4.37533110931841e-05,-8.139027195390959e-05],"qvel":[-0.1518410786060585,0.029212621075735717,-0.035044474142595684,0.00684005683933855,-0.0005242091689294284,-0.1504250025176235,5.776066212087702e-05,5.601711702933084e-05,0.00015027861005590255,-0.0004079765111662432,5.195796079418365e-05,-6.050191488725217e-05,-2.7587370177672432e-05,0.00031401314913385325,0.07714870778015821,0.0006372333176410417,0.0023509363510215136,-0.0013087180170992484,-0.001024055578610166,-0.004059497245783142],"joint_position_rad":[-1.990420586347178,-1.6071111438798626,1.3407236740585926,-1.3041845980773434,-1.5709061319265647,-0.4195145314969784],"joint_velocity_rad_s":[-0.1518410786060585,0.029212621075735717,-0.035044474142595684,0.00684005683933855,-0.0005242091689294284,-0.1504250025176235],"linkage_position_rad":[0.46118169748428284,0.0002939548204662819,0.4582804367489053,-0.4508561756083551,0.4611817586696926,0.00029155546041190504,0.4582159006315252,-0.45105546903165716],"tcp_position_m":[0.06615737787050925,0.47712651068089623,0.4350906116370272],"tcp_quaternion_wxyz":[9.138085256983778e-05,0.7071455649842112,0.7070679842390369,-8.506964516082737e-05],"object_position_m":[0.06614679794848609,0.4774967540149786,0.429256554426229],"object_quaternion_wxyz":[0.9999999482994956,-0.00030799720479898773,4.37533110931841e-05,-8.139027195390959e-05],"object_linear_velocity_m_s":[0.07714870778015821,0.0006372333176410417,0.0023509363510215136],"object_angular_velocity_rad_s":[-0.0013092400998651454,-0.0010263429002296813,-0.004058751184408445],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632370912620333,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.090304599260165,"right":46.10545593526852},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.020172851679631,-1.6110466143888993,1.323529658758508,-1.3076603732070422,-1.5708832728150286,-0.44929716143285053,180.0],"actuator_force":[1.2319007775176942,-19.55598944836811,-20.37024094313165,-2.421893248783249,0.06385047266098809,0.15118528382629393,5.0],"issued_joint_targets_rad":[-2.0201167283543042,-1.6015356884862886,1.3335443615172808,-1.3028354268113005,-1.570873834244212,-0.44925190138627535],"issued_gripper_0_255":180.0,"command":{"t_seconds":6.980000000000666,"joint_targets_rad":[-2.0201167283543042,-1.6015356884862886,1.3335443615172808,-1.3028354268113005,-1.570873834244212,-0.44925190138627535],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.000000000000672,"qpos":[-1.9932963727700863,-1.6065453121987274,1.3400474092722943,-1.3040534747005221,-1.5709150658346238,-0.4223650945410387,0.46118247384745853,0.0002949353030472451,0.45828224663429984,-0.4508635839187385,0.4611823709957889,0.0002906175936823549,0.4582154696042313,-0.45104976520973616,0.06761154093920439,0.47751142900631033,0.4293015070442162,0.9999999407274437,-0.00032128541083336856,3.472145216587222e-05,-0.00011880746696659768],"qvel":[-0.13694669841155496,0.02704865015309117,-0.03221571924304084,0.006243692860390191,-0.0003849955792870385,-0.1357988374478568,2.7862787656693068e-05,3.1502383224457245e-05,5.042680774259606e-05,-0.00026687389698907096,2.156320839454451e-05,-3.084939809650759e-05,2.9752395219651204e-07,0.0002082655428853764,0.06983844459486627,0.0006049692782013532,0.002065927928695391,-0.0012944920594418505,-0.0007644355783528932,-0.003457466090477275],"joint_position_rad":[-1.9932963727700863,-1.6065453121987274,1.3400474092722943,-1.3040534747005221,-1.5709150658346238,-0.4223650945410387],"joint_velocity_rad_s":[-0.13694669841155496,0.02704865015309117,-0.03221571924304084,0.006243692860390191,-0.0003849955792870385,-0.1357988374478568],"linkage_position_rad":[0.46118247384745853,0.0002949353030472451,0.45828224663429984,-0.4508635839187385,0.4611823709957889,0.0002906175936823549,0.4582154696042313,-0.45104976520973616],"tcp_position_m":[0.06762299880910548,0.4771373128713032,0.43513896937277663],"tcp_quaternion_wxyz":[9.898585355480431e-05,0.7071544804227587,0.7070590656326063,-9.341608115700367e-05],"object_position_m":[0.06761154093920439,0.47751142900631033,0.4293015070442162],"object_quaternion_wxyz":[0.9999999407274437,-0.00032128541083336856,3.472145216587222e-05,-0.00011880746696659768],"object_linear_velocity_m_s":[0.06983844459486627,0.0006049692782013532,0.002065927928695391],"object_angular_velocity_rad_s":[-0.0012949140044432512,-0.0007663494176172226,-0.0034568843636176806],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046323643575965724,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.091479905731916,"right":46.105528213288295},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.020119657983242,-1.6109287987593586,1.3234021551339532,-1.307658148673846,-1.570874864855114,-0.44925190337347354,180.0],"actuator_force":[1.1321089383104663,-19.586433182498695,-20.404220579466255,-2.42670627270104,0.058600047683626144,0.13647932856829925,5.0],"issued_joint_targets_rad":[-2.02007364751778,-1.6014310151983115,1.3334389225561356,-1.3028323459977784,-1.5708667454899565,-0.44921547433540654],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.000000000000672,"joint_targets_rad":[-2.02007364751778,-1.6014310151983115,1.3334389225561356,-1.3028323459977784,-1.5708667454899565,-0.44921547433540654],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.020000000000679,"qpos":[-1.9958898749662803,-1.6060244000708925,1.339426113964913,-1.303933982502887,-1.5709213258725279,-0.42493889579997457,0.46118249496056096,0.00029532509142082077,0.458282468129462,-0.45086659739982543,0.4611823028536033,0.00029028146428304786,0.4582151700962654,-0.4510470472823068,0.06893589353272814,0.47752476387490034,0.4293422536482788,0.9999999329433632,-0.00033302158002500743,2.748515395649393e-05,-0.00014984813448385684],"qvel":[-0.12349320051658787,0.024848185391950495,-0.029614571702492955,0.00568649777320158,-0.00026054465276070967,-0.12261519678680492,-4.686739658232556e-06,1.0372322378275052e-05,-3.3401871758997336e-06,-8.42639193184035e-05,-7.255513574912035e-06,-9.921093696327193e-06,-5.9437460042202e-06,9.057387193188432e-05,0.06308286088216532,0.0005527902785399214,0.0019074336377963446,-0.0010820968548587646,-0.0006281468556296513,-0.0028350125599008956],"joint_position_rad":[-1.9958898749662803,-1.6060244000708925,1.339426113964913,-1.303933982502887,-1.5709213258725279,-0.42493889579997457],"joint_velocity_rad_s":[-0.12349320051658787,0.024848185391950495,-0.029614571702492955,0.00568649777320158,-0.00026054465276070967,-0.12261519678680492],"linkage_position_rad":[0.46118249496056096,0.00029532509142082077,0.458282468129462,-0.45086659739982543,0.4611823028536033,0.00029028146428304786,0.4582151700962654,-0.4510470472823068],"tcp_position_m":[0.06894663892608383,0.4771473288279894,0.43518287557194946],"tcp_quaternion_wxyz":[0.00010504234456464293,0.707161443563669,0.7070520994941415,-0.00010150851865906777],"object_position_m":[0.06893589353272814,0.47752476387490034,0.4293422536482788],"object_quaternion_wxyz":[0.9999999329433632,-0.00033302158002500743,2.748515395649393e-05,-0.00014984813448385684],"object_linear_velocity_m_s":[0.06308286088216532,0.0005527902785399214,0.0019074336377963446],"object_angular_velocity_rad_s":[-0.001082441170837635,-0.000629710585160535,-0.0028345341735355597],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632366104770836,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.091980120453634,"right":46.10481877781726},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0200760775991635,-1.6108333284148426,1.3232971244133005,-1.3076555833000632,-1.5708674647054501,-0.4492154760595191,180.0],"actuator_force":[1.0248749408688127,-19.55713084468016,-20.412150422228024,-2.429450175908187,0.052985048814889524,0.12322954890819915,5.0],"issued_joint_targets_rad":[-2.0200388719383326,-1.6013455831445038,1.333352511631648,-1.3028291166581492,-1.570860284666514,-0.4491866969141558],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.020000000000679,"joint_targets_rad":[-2.0200388719383326,-1.6013455831445038,1.333352511631648,-1.3028291166581492,-1.570860284666514,-0.4491866969141558],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.040000000000686,"qpos":[-1.998228911197905,-1.6055469615694942,1.3388558714731105,-1.303825183616471,-1.5709252932164142,-0.4272632021790244,0.46118224277159137,0.0002955360853404555,0.4582822386082829,-0.4508679274710139,0.4611819978031699,0.0002901206004835048,0.4582148359046846,-0.4510454704047931,0.07013177711067234,0.47753672461826563,0.42937989005917343,0.9999999257283043,-0.00034266096778259766,2.1761928241749982e-05,-0.00017508074178334692],"qvel":[-0.11137564891441361,0.022761370626288493,-0.0271825250871606,0.005178966975842356,-0.00015558333312113993,-0.11073033581467309,-6.743683321617761e-06,8.652166495611429e-06,-7.225403468017151e-06,-6.17443689922679e-05,-8.847267125931392e-06,-7.738624765501935e-06,-5.978053645209585e-06,6.869434949437878e-05,0.05695453597532505,0.0005013269287919601,0.0017706086332628678,-0.0008774642700506307,-0.00048180507222296055,-0.0022893048892387285],"joint_position_rad":[-1.998228911197905,-1.6055469615694942,1.3388558714731105,-1.303825183616471,-1.5709252932164142,-0.4272632021790244],"joint_velocity_rad_s":[-0.11137564891441361,0.022761370626288493,-0.0271825250871606,0.005178966975842356,-0.00015558333312113993,-0.11073033581467309],"linkage_position_rad":[0.46118224277159137,0.0002955360853404555,0.4582822386082829,-0.4508679274710139,0.4611819978031699,0.0002901206004835048,0.4582148359046846,-0.4510454704047931],"tcp_position_m":[0.07014183036767023,0.4771564302016111,0.43522346915373133],"tcp_quaternion_wxyz":[0.00010946594202754741,0.7071666495229079,0.7070468909747272,-0.00010854825608521124],"object_position_m":[0.07013177711067234,0.47753672461826563,0.42937989005917343],"object_quaternion_wxyz":[0.9999999257283043,-0.00034266096778259766,2.1761928241749982e-05,-0.00017508074178334692],"object_linear_velocity_m_s":[0.05695453597532505,0.0005013269287919601,0.0017706086332628678],"object_angular_velocity_rad_s":[-0.0008777328318621043,-0.0004830665555835296,-0.002288936068892185],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632370364686577,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09252567556355,"right":46.10412148991926},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.020040881125619,-1.610756499946959,1.3232110705106492,-1.3076527721439832,-1.5708607425072565,-0.4491866984230046,180.0],"actuator_force":[0.9263197103373386,-19.523625005444956,-20.416591890058044,-2.431690961340337,0.0478336878910568,0.11128545947721591,5.0],"issued_joint_targets_rad":[-2.0200109250050056,-1.6012758586479197,1.3332816997329144,-1.3028258739269742,-1.570854363850386,-0.44916415848611996],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.040000000000686,"joint_targets_rad":[-2.0200109250050056,-1.6012758586479197,1.3332816997329144,-1.3028258739269742,-1.570854363850386,-0.44916415848611996],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.060000000000692,"qpos":[-2.0003387368916674,-1.6051103419640345,1.338333244301496,-1.3037261016699615,-1.5709273414890792,-0.4293625325595017,0.4611820532539943,0.00029572524905209757,0.4582820574199785,-0.45086910712730915,0.4611817610115454,0.00028998228003076023,0.45821458268276866,-0.45104419870653883,0.07121152656794912,0.47754741661638017,0.4294147378628714,0.9999999193925123,-0.0003504064897501603,1.748559809853359e-05,-0.0001952550013141927],"qvel":[-0.1004618122863901,0.020808396396982135,-0.024912408385233356,0.004717999477503131,-6.811489020131893e-05,-0.10001328648732495,-3.8754423865802095e-06,7.6631447512296e-06,-4.667503477138632e-06,-5.625778637923497e-05,-5.782231375999593e-06,-6.546967372239263e-06,-3.27087020061344e-06,5.578545106405811e-05,0.051422773308590984,0.0004528058362108016,0.0016445649117428401,-0.0006986987142993543,-0.00035321154892931973,-0.0018156666859591947],"joint_position_rad":[-2.0003387368916674,-1.6051103419640345,1.338333244301496,-1.3037261016699615,-1.5709273414890792,-0.4293625325595017],"joint_velocity_rad_s":[-0.1004618122863901,0.020808396396982135,-0.024912408385233356,0.004717999477503131,-6.811489020131893e-05,-0.10001328648732495],"linkage_position_rad":[0.4611820532539943,0.00029572524905209757,0.4582820574199785,-0.45086910712730915,0.4611817610115454,0.00028998228003076023,0.45821458268276866,-0.45104419870653883],"tcp_position_m":[0.07122100557069955,0.4771646482660609,0.43526109210146197],"tcp_quaternion_wxyz":[0.00011247525214702447,0.7071703587387984,0.7070431796920883,-0.00011454892900350641],"object_position_m":[0.07121152656794912,0.47754741661638017,0.4294147378628714],"object_quaternion_wxyz":[0.9999999193925123,-0.0003504064897501603,1.748559809853359e-05,-0.0001952550013141927],"object_linear_velocity_m_s":[0.051422773308590984,0.0004528058362108016,0.0016445649117428401],"object_angular_velocity_rad_s":[-0.0006989003333820884,-0.0003542110081620958,-0.001815394362626994],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632373992166838,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09311270061549,"right":46.10358191871849},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0200125827468534,-1.6106947760284367,1.3231405731014323,-1.3076498695446839,-1.57085460238251,-0.44916415981839536,180.0],"actuator_force":[0.8370332041840811,-19.492226687597395,-20.42037904603376,-2.433683885111577,0.04318104230469544,0.10051501928563766,5.0],"issued_joint_targets_rad":[-2.0199885484412192,-1.601218943225478,1.3332236568827243,-1.3028227059681168,-1.5708489466859785,-0.4491466600427244],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.060000000000692,"joint_targets_rad":[-2.0199885484412192,-1.601218943225478,1.3332236568827243,-1.3028227059681168,-1.5708489466859785,-0.4491466600427244],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.080000000000699,"qpos":[-2.0022420737186035,-1.604711745659241,1.3378549046231039,-1.3036358446224534,-1.5709278004843803,-0.43125893972811674,0.4611819097488308,0.0002958834056369592,0.45828190934558305,-0.4508701161240912,0.46118157658128456,0.00028987086773010333,0.4582143929783093,-0.45104317370873115,0.07218643672158488,0.47755695356279443,0.42944702024708653,0.9999999140747359,-0.0003565120876615449,1.4435904931728757e-05,-0.0002110479984122893],"qvel":[-0.09062994985403242,0.01899111230666197,-0.022800837406381246,0.004299109485678967,4.13387547753736e-06,-0.09034660910356572,-3.4450228034755136e-06,6.202231257583731e-06,-4.788280370326144e-06,-4.571794130561607e-05,-5.061116190388044e-06,-5.094378102704266e-06,-2.398950996669686e-06,4.471207173156966e-05,0.046428585767060944,0.0004076192523011386,0.0015274054861277356,-0.0005449914309622317,-0.0002448283455635377,-0.0014059920307397879],"joint_position_rad":[-2.0022420737186035,-1.604711745659241,1.3378549046231039,-1.3036358446224534,-1.5709278004843803,-0.43125893972811674],"joint_velocity_rad_s":[-0.09062994985403242,0.01899111230666197,-0.022800837406381246,0.004299109485678967,4.13387547753736e-06,-0.09034660910356572],"linkage_position_rad":[0.4611819097488308,0.0002958834056369592,0.45828190934558305,-0.4508701161240912,0.46118157658128456,0.00028987086773010333,0.4582143929783093,-0.45104317370873115],"tcp_position_m":[0.07219541694222516,0.47717203760931415,0.43529597287044247],"tcp_quaternion_wxyz":[0.00011429520643404822,0.7071728076849969,0.7070407291663617,-0.00011961364083842807],"object_position_m":[0.07218643672158488,0.47755695356279443,0.42944702024708653],"object_quaternion_wxyz":[0.9999999140747359,-0.0003565120876615449,1.4435904931728757e-05,-0.0002110479984122893],"object_linear_velocity_m_s":[0.046428585767060944,0.0004076192523011386,0.0015274054861277356],"object_angular_velocity_rad_s":[-0.0005451355258295574,-0.00024560071488150166,-0.0014058014498661126],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632377007878579,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09363747624825,"right":46.103092166316095},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199899138571005,-1.6106452693497404,1.3230828087224449,-1.3076469788146612,-1.570849000828505,-0.44914666122976055,180.0],"actuator_force":[0.7562996646192914,-19.46349230366377,-20.42385683876546,-2.435478044671868,0.038986440389862764,0.09080015953466614,5.0],"issued_joint_targets_rad":[-2.0199707016481887,-1.6011724733762107,1.3331760653074138,-1.302819669815479,-1.5708440007550886,-0.44913321411007645],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.080000000000699,"joint_targets_rad":[-2.0199707016481887,-1.6011724733762107,1.3331760653074138,-1.302819669815479,-1.5708440007550886,-0.44913321411007645],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.100000000000706,"qpos":[-2.0039593487230456,-1.6043484079915105,1.3374176271132918,-1.303553607966583,-1.5709269555118661,-0.43297226705927166,0.46118178126488635,0.00029601004978253636,0.4582817629076644,-0.45087091829516923,0.46118141381751204,0.0002897864174509751,0.4582142389331164,-0.4510423591423402,0.07306668385368344,0.477565443863183,0.4294769303777606,0.999999909808587,-0.0003612112936129853,1.2419846783386753e-05,-0.00022305821337182888],"qvel":[-0.08177068144748488,0.017307120070247775,-0.02084311509880318,0.0039181604714152276,6.323330004300568e-05,-0.08162509204034502,-3.4233042010469597e-06,4.897072814814743e-06,-5.261084239106215e-06,-3.585334501110894e-05,-4.766935631249646e-06,-3.7850743308030993e-06,-1.8916518772727307e-06,3.502309451182816e-05,0.041919259706989016,0.0003658479301544513,0.0014182458089834087,-0.0004136644497356229,-0.00015293399913660855,-0.001052723286497225],"joint_position_rad":[-2.0039593487230456,-1.6043484079915105,1.3374176271132918,-1.303553607966583,-1.5709269555118661,-0.43297226705927166],"joint_velocity_rad_s":[-0.08177068144748488,0.017307120070247775,-0.02084311509880318,0.0039181604714152276,6.323330004300568e-05,-0.08162509204034502],"linkage_position_rad":[0.46118178126488635,0.00029601004978253636,0.4582817629076644,-0.45087091829516923,0.46118141381751204,0.0002897864174509751,0.4582142389331164,-0.4510423591423402],"tcp_position_m":[0.07307522928583807,0.47717865770374257,0.43532831015936646],"tcp_quaternion_wxyz":[0.000115124889115978,0.7071742026884017,0.7070393330358192,-0.00012384888411596406],"object_position_m":[0.07306668385368344,0.477565443863183,0.4294769303777606],"object_quaternion_wxyz":[0.999999909808587,-0.0003612112936129853,1.2419846783386753e-05,-0.00022305821337182888],"object_linear_velocity_m_s":[0.041919259706989016,0.0003658479301544513,0.0014182458089834087],"object_angular_velocity_rad_s":[-0.0004137589523949024,-0.00015350990298821285,-0.001052602319016129],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632379697078967,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.094101987567065,"right":46.102640748436144},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199718245992684,-1.6106056360889116,1.3230354648444176,-1.3076441691532972,-1.5708438994182332,-0.4491332151772663,180.0],"actuator_force":[0.6833208265484245,-19.437304222901275,-20.427078498227274,-2.4370966404985666,0.035204716812131664,0.08203514503719589,5.0],"issued_joint_targets_rad":[-2.0199565292024917,-1.601134523018188,1.3331370286590383,-1.3028168003197673,-1.5708394935117787,-0.4491230128937317],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.100000000000706,"joint_targets_rad":[-2.0199565292024917,-1.601134523018188,1.3331370286590383,-1.3028168003197673,-1.5708394935117787,-0.4491230128937317],"gripper_0_255":180.0,"phase":"transfer"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.120000000000712,"qpos":[-2.0055089307527956,-1.6040176479340424,1.3370183139003557,-1.303478665892911,-1.570925052338543,-0.43452037766220264,0.4611816659893746,0.0002961094620045614,0.45828161821824903,-0.45087154113706446,0.4611812701805541,0.00028972583749848713,0.45821411630463493,-0.4510417324953935,0.0738614549027542,0.4775729887464813,0.42950464204887073,0.9999999065605992,-0.00036471138054608784,1.1276896479184234e-05,-0.00023181292659628502],"qvel":[-0.07378600047459996,0.015752046735606276,-0.019033165647174975,0.0035714784574149947,0.00011100506933514416,-0.07375443306923378,-3.2364943876442655e-06,3.7603181725042015e-06,-5.498645107177967e-06,-2.7482171135223257e-05,-4.337207244971585e-06,-2.6354136240430497e-06,-1.2626185916493147e-06,2.6303284818970714e-05,0.037847779181819606,0.0003274609028348041,0.001316445595324344,-0.0003020683412495183,-7.509708146544392e-05,-0.0007491126919593013],"joint_position_rad":[-2.0055089307527956,-1.6040176479340424,1.3370183139003557,-1.303478665892911,-1.570925052338543,-0.43452037766220264],"joint_velocity_rad_s":[-0.07378600047459996,0.015752046735606276,-0.019033165647174975,0.0035714784574149947,0.00011100506933514416,-0.07375443306923378],"linkage_position_rad":[0.4611816659893746,0.0002961094620045614,0.45828161821824903,-0.45087154113706446,0.4611812701805541,0.00028972583749848713,0.45821411630463493,-0.4510417324953935],"tcp_position_m":[0.07386962250209261,0.4771845689438323,0.435358285009926],"tcp_quaternion_wxyz":[0.00011513700729387653,0.7071747225137797,0.7070388124862685,-0.00012735397241115615],"object_position_m":[0.0738614549027542,0.4775729887464813,0.42950464204887073],"object_quaternion_wxyz":[0.9999999065605992,-0.00036471138054608784,1.1276896479184234e-05,-0.00023181292659628502],"object_linear_velocity_m_s":[0.037847779181819606,0.0003274609028348041,0.001316445595324344],"object_angular_velocity_rad_s":[-0.00030212014703371286,-7.550342013291529e-05,-0.000749050952865647],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632382114836307,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09452115546924,"right":46.10223291974565},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199574515243204,-1.6105739754117885,1.3229966494096648,-1.3076414852073093,-1.5708392606130237,-0.44912301386166553,180.0],"actuator_force":[0.6173586467903078,-19.413473649734442,-20.430062722512048,-2.4385575029406255,0.03179535582603421,0.07412520719194049,5.0],"issued_joint_targets_rad":[-2.019945329879201,-1.6011035224453432,1.3331049956336543,-1.302814116528537,-1.5708353926051388,-0.44911539789351734],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.120000000000712,"joint_targets_rad":[-2.019945329879201,-1.6011035224453432,1.3331049956336543,-1.302814116528537,-1.5708353926051388,-0.44911539789351734],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.140000000000719,"qpos":[-2.006907343822863,-1.6037168965886441,1.3366540146033463,-1.3034103623970938,-1.5709223020017997,-0.4359193586421944,0.46118156365980056,0.0002961850977945703,0.4582814766899554,-0.45087200917339043,0.4611811447288884,0.0002896862219354596,0.45821402248639054,-0.45104127273128164,0.07457904659136697,0.477579681960956,0.4295303136575255,0.9999999042561573,-0.0003671949050053695,1.0869582306986181e-05,-0.00023777601042064165],"qvel":[-0.06658807126880684,0.014320281313812218,-0.01736393965339209,0.003255805096767354,0.00014905184475704432,-0.06665005418424384,-3.0349105450079773e-06,2.754125082447924e-06,-5.661724953863922e-06,-2.0156277697060603e-05,-3.918014664570319e-06,-1.6286089946848454e-06,-6.520710364789423e-07,1.8625990213218895e-05,0.03417166671796519,0.000292360691686075,0.001221467304876778,-0.00020778832128405772,-9.392494202812214e-06,-0.0004891638164207252],"joint_position_rad":[-2.006907343822863,-1.6037168965886441,1.3366540146033463,-1.3034103623970938,-1.5709223020017997,-0.4359193586421944],"joint_velocity_rad_s":[-0.06658807126880684,0.014320281313812218,-0.01736393965339209,0.003255805096767354,0.00014905184475704432,-0.06665005418424384],"linkage_position_rad":[0.46118156365980056,0.0002961850977945703,0.4582814766899554,-0.45087200917339043,0.4611811447288884,0.0002896862219354596,0.45821402248639054,-0.45104127273128164],"tcp_position_m":[0.07458688657570796,0.4771898308948795,0.4353860640135102],"tcp_quaternion_wxyz":[0.00011448063323438043,0.7071745215877235,0.7070390130354721,-0.0001302197515010319],"object_position_m":[0.07457904659136697,0.477579681960956,0.4295303136575255],"object_quaternion_wxyz":[0.9999999042561573,-0.0003671949050053695,1.0869582306986181e-05,-0.00023777601042064165],"object_linear_velocity_m_s":[0.03417166671796519,0.000292360691686075,0.001221467304876778],"object_angular_velocity_rad_s":[-0.0002078034837131506,-9.652909161929874e-06,-0.0004891523057352138],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632384284251917,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09489996573841,"right":46.10186513323377},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199460865316214,-1.610548746402452,1.3229648146526691,-1.3076389539144406,-1.5708350479314317,-0.4491153987789048,180.0],"actuator_force":[0.55774309000617,-19.391812153140563,-20.43282403999774,-2.4398762683500763,0.028721850708279817,0.0669853500691886,5.0],"issued_joint_targets_rad":[-2.0087460112184683,-1.6147951706998167,1.3947571749592034,-1.3504866849996355,-1.5708279866340746,-0.43794500335519976],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.140000000000719,"joint_targets_rad":[-2.0087460112184683,-1.6147951706998167,1.3947571749592034,-1.3504866849996355,-1.5708279866340746,-0.43794500335519976],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.160000000000726,"qpos":[-2.0074728133325896,-1.6042712620871695,1.3377481549371006,-1.3048094842114881,-1.5709589257187082,-0.4363329873099028,0.46120073699119907,0.00029324897295146914,0.45829798589841025,-0.450890556792862,0.4612029128683434,0.0002871165932616773,0.4582524836886378,-0.45104557509513615,0.07489064396928898,0.47762583690645644,0.4293117954328773,0.9999998311190761,0.00022138069366226562,-0.0002936043556054381,-0.0004500543200581885],"qvel":[-0.00882724087763617,-0.05732151346250664,0.11778978730269206,-0.137082030229241,5.4896506940417864e-05,-0.008139729901752884,0.0011721315996970313,0.00014091274581938488,0.0006716871050046706,-0.0022789802086676456,0.0011000625536570895,-7.844528037640762e-05,0.0015947464609913713,-0.000489812296034515,0.006447502812822991,0.00471665379895109,-0.021449208569633543,0.09650264226770748,-0.041710112301246986,-0.004986679015663173],"joint_position_rad":[-2.0074728133325896,-1.6042712620871695,1.3377481549371006,-1.3048094842114881,-1.5709589257187082,-0.4363329873099028],"joint_velocity_rad_s":[-0.00882724087763617,-0.05732151346250664,0.11778978730269206,-0.137082030229241,5.4896506940417864e-05,-0.008139729901752884],"linkage_position_rad":[0.46120073699119907,0.00029324897295146914,0.45829798589841025,-0.450890556792862,0.4612029128683434,0.0002871165932616773,0.4582524836886378,-0.45104557509513615],"tcp_position_m":[0.07488216820301206,0.47717997121091715,0.4352600974574613],"tcp_quaternion_wxyz":[-1.5261900056458558e-05,0.7072282037247818,0.7069852822737518,0.000279770612446611],"object_position_m":[0.07489064396928898,0.47762583690645644,0.4293117954328773],"object_quaternion_wxyz":[0.9999998311190761,0.00022138069366226562,-0.0002936043556054381,-0.0004500543200581885],"object_linear_velocity_m_s":[0.006447502812822991,0.00471665379895109,-0.021449208569633543],"object_angular_velocity_rad_s":[0.09646797754756282,-0.04179476011796141,-0.004948508361315581],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046319645892025425,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.076643596164054,"right":46.097952476250015},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.008745373249923,-1.6242302423428638,1.3529644258145985,-1.3376411106095756,-1.5708272611139438,-0.43794500225303606,180.0],"actuator_force":[0.9857765163869772,-16.989355126385817,-16.683373166080855,-2.707610176119715,0.060342651688301885,0.007965518608642697,5.0],"issued_joint_targets_rad":[-2.0092530468095084,-1.614780223813988,1.3950710978748366,-1.350821162667644,-1.570825920054517,-0.43845175123847585],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.160000000000726,"joint_targets_rad":[-2.0092530468095084,-1.614780223813988,1.3950710978748366,-1.350821162667644,-1.570825920054517,-0.43845175123847585],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.1800000000007325,"qpos":[-2.007639013795085,-1.6055200364986937,1.3414404286923614,-1.3087684383166343,-1.5709478632920892,-0.4365337096374545,0.4612090551435081,0.0002930196939123009,0.4583082877267865,-0.4508926428103227,0.4612100503682401,0.000286659527820158,0.45825971186867165,-0.4510530438582604,0.07503110450157728,0.4777763266269781,0.42840859235188067,0.9999990358258127,0.001126933113985281,-0.0006737130309128502,-0.00045219459825094683],"qvel":[-0.007689120041005574,-0.06279013047784543,0.24381788929972115,-0.2209261238677873,0.0005817641880169903,-0.009687442510464194,0.0001615967329693595,-3.243289113792484e-05,0.0011654999129003187,0.000732079864551744,7.974250158976068e-05,-9.169431338444287e-05,-0.0006957274124842675,-0.00015861047630577144,0.0033102126202941037,0.0010031638052726431,-0.07158299375034086,0.04341056517971488,-0.016543000314493538,8.727243243673055e-05],"joint_position_rad":[-2.007639013795085,-1.6055200364986937,1.3414404286923614,-1.3087684383166343,-1.5709478632920892,-0.4365337096374545],"joint_velocity_rad_s":[-0.007689120041005574,-0.06279013047784543,0.24381788929972115,-0.2209261238677873,0.0005817641880169903,-0.009687442510464194],"linkage_position_rad":[0.4612090551435081,0.0002930196939123009,0.4583082877267865,-0.4508926428103227,0.4612100503682401,0.000286659527820158,0.45825971186867165,-0.4510530438582604],"tcp_position_m":[0.07500468168483526,0.47726674199964364,0.4344697103120988],"tcp_quaternion_wxyz":[-0.00027931346919883755,0.7072156935325482,0.7069971037371932,0.000990006304245545],"object_position_m":[0.07503110450157728,0.4777763266269781,0.42840859235188067],"object_quaternion_wxyz":[0.9999990358258127,0.001126933113985281,-0.0006737130309128502,-0.00045219459825094683],"object_linear_velocity_m_s":[0.0033102126202941037,0.0010031638052726431,-0.07158299375034086],"object_angular_velocity_rad_s":[0.0433954541609048,-0.016582474103066666,0.00010842460518493713],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04631838713573449,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.036469151468104,"right":46.064182076210436},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0092500326232647,-1.6242047327773879,1.3829592331621907,-1.3556482597649897,-1.5708251919069849,-0.43845175005892373,180.0],"actuator_force":[-0.14638963995776066,-12.253340366250086,-14.48954678022983,-1.3472983373990246,0.0031592737504979596,0.0097240403118235,5.0],"issued_joint_targets_rad":[-2.009403636723384,-1.614960102907502,1.3972954015521541,-1.3528758083431693,-1.5708219321018908,-0.43860234572675816],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.1800000000007325,"joint_targets_rad":[-2.009403636723384,-1.614960102907502,1.3972954015521541,-1.3528758083431693,-1.5708219321018908,-0.43860234572675816],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.200000000000739,"qpos":[-2.0077855585299487,-1.6065702242330788,1.3466809443940793,-1.3130208282081461,-1.5709360801756669,-0.4367312943553599,0.4611956547273169,0.0003017872504024562,0.4583007949960675,-0.4509196502097829,0.4611942294122468,0.00028687302927690175,0.4582232471389681,-0.4510407152778028,0.07507187675162981,0.4777501747347977,0.42676508150985837,0.9999990381609039,0.0011456691962606577,-0.0006600634287154453,-0.0004188503687065437],"qvel":[-0.007426398329296382,-0.043258285791487716,0.25577716406624185,-0.2003821595798631,0.0006191932245635597,-0.009450875270891293,-0.001732231625523853,0.00042911050376950383,-0.0016201889339285092,-0.0009254737452439812,-0.0018136328145553328,-5.640843975331078e-05,-0.0023401481016664034,0.002375188940560844,0.0026813818478087664,-0.0009867809301003928,-0.08190158801272432,-0.015411359964700614,0.008665415914516408,0.004001786071836622],"joint_position_rad":[-2.0077855585299487,-1.6065702242330788,1.3466809443940793,-1.3130208282081461,-1.5709360801756669,-0.4367312943553599],"joint_velocity_rad_s":[-0.007426398329296382,-0.043258285791487716,0.25577716406624185,-0.2003821595798631,0.0006191932245635597,-0.009450875270891293],"linkage_position_rad":[0.4611956547273169,0.0003017872504024562,0.4583007949960675,-0.4509196502097829,0.4611942294122468,0.00028687302927690175,0.4582232471389681,-0.4510407152778028],"tcp_position_m":[0.07506987712131004,0.4772527097347527,0.432873661612713],"tcp_quaternion_wxyz":[-0.0002952782481417543,0.7071976254524807,0.7070151318424885,0.0010172073912423627],"object_position_m":[0.07507187675162981,0.4777501747347977,0.42676508150985837],"object_quaternion_wxyz":[0.9999990381609039,0.0011456691962606577,-0.0006600634287154453,-0.0004188503687065437],"object_linear_velocity_m_s":[0.0026813818478087664,-0.0009867809301003928,-0.08190158801272432],"object_angular_velocity_rad_s":[-0.01540938191665939,0.008669156305607446,0.004001302112232323],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046322900431510695,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.11063494318734,"right":46.10573312183357},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0093993629629177,-1.6243779392499946,1.3871394130348413,-1.3577010712467021,-1.570821176838282,-0.43860234536274817,180.0],"actuator_force":[-0.2570495342192771,-18.312115717236793,-21.393928344972664,-2.3019055612917327,-0.004467653763981616,0.009562023395005781,5.0],"issued_joint_targets_rad":[-2.0095456506087968,-1.6157774988337419,1.40223383220849,-1.356998552762526,-1.570821523782062,-0.4387444981302425],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.200000000000739,"joint_targets_rad":[-2.0095456506087968,-1.6157774988337419,1.40223383220849,-1.356998552762526,-1.570821523782062,-0.4387444981302425],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.220000000000746,"qpos":[-2.0079493195439877,-1.6074556705405187,1.3519590770937793,-1.3171928039261191,-1.570924727111564,-0.4369236072947614,0.4611755016847864,0.0003036337870888075,0.4582815097633296,-0.45091373234798915,0.4611737387593242,0.00028594728909647467,0.4582007733036908,-0.4510103222459949,0.07514928260215852,0.4777455783421027,0.4250631794603462,0.999999201475779,0.0010437673491643662,-0.0005960181314131856,-0.00039033307783676446],"qvel":[-0.007821014785286571,-0.04064394436635662,0.25506175541472476,-0.19977494773865534,0.000505704754077037,-0.009197078082419284,-0.0004646302448499669,4.97022254844035e-05,-0.0004393421536000876,0.00022667239933387402,-0.00048665992005303876,5.797024251608154e-05,-0.000705987199975111,0.00016266293580270662,0.0033664160812623654,-0.0006679730025041865,-0.0825180191584565,-0.01697575947632958,0.008603585534718967,0.0033455321154390637],"joint_position_rad":[-2.0079493195439877,-1.6074556705405187,1.3519590770937793,-1.3171928039261191,-1.570924727111564,-0.4369236072947614],"joint_velocity_rad_s":[-0.007821014785286571,-0.04064394436635662,0.25506175541472476,-0.19977494773865534,0.000505704754077037,-0.009197078082419284],"linkage_position_rad":[0.4611755016847864,0.0003036337870888075,0.4582815097633296,-0.45091373234798915,0.4611737387593242,0.00028594728909647467,0.4582007733036908,-0.4510103222459949],"tcp_position_m":[0.0751480903310555,0.47724739535380567,0.4311727768548349],"tcp_quaternion_wxyz":[-0.00026276218911740906,0.7071876012525867,0.7070253153771603,0.0009115955630828908],"object_position_m":[0.07514928260215852,0.4777455783421027,0.4250631794603462],"object_quaternion_wxyz":[0.999999201475779,0.0010437673491643662,-0.0005960181314131856,-0.00039033307783676446],"object_linear_velocity_m_s":[0.0033664160812623654,-0.0006679730025041865,-0.0825180191584565],"object_angular_velocity_rad_s":[-0.016973027143064354,0.008609855326219051,0.003343264848801377],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632542310120329,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.101354876519935,"right":46.10068295416648},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0095412922467006,-1.6251872323077676,1.3920675778466214,-1.361822993326113,-1.5708207344375522,-0.4387444980630233,180.0],"actuator_force":[-0.05553949131126501,-19.20554578795509,-21.807700660205683,-2.3375999261314746,0.0014258615983635536,0.009262424110971779,5.0],"issued_joint_targets_rad":[-2.009703552863879,-1.6166096682773878,1.4074571048974716,-1.361389602663872,-1.5708218142433854,-0.43890250928243574],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.220000000000746,"joint_targets_rad":[-2.009703552863879,-1.6166096682773878,1.4074571048974716,-1.361389602663872,-1.5708218142433854,-0.43890250928243574],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.2400000000007525,"qpos":[-2.0081160772221165,-1.608321964604431,1.357232580859147,-1.3213805587043492,-1.5709148984446342,-0.4371125552592712,0.4611763289550974,0.00030310934165291535,0.45828168238976985,-0.4509122756487586,0.4611747091566027,0.0002867495369996893,0.45820216455825896,-0.45101624998800777,0.07523033339361013,0.4777438317517967,0.4233554183598317,0.9999993394048289,0.0009473465432723782,-0.0005385420913889154,-0.0003656457950987575],"qvel":[-0.007822625845392235,-0.04028028438371867,0.2548953591365667,-0.20077314765822865,0.0004481948161592834,-0.009040770860855574,8.409969106923448e-06,6.373935671707047e-05,2.5424318220552904e-05,-0.0002468463091311982,-1.4061424330387247e-05,6.90666161772583e-05,-0.00023500937454193195,-0.0005216171670331648,0.0033148590262132484,-0.0006543595192734763,-0.08260817247447935,-0.016191415001361568,0.008095361781816435,0.0031260266888582062],"joint_position_rad":[-2.0081160772221165,-1.608321964604431,1.357232580859147,-1.3213805587043492,-1.5709148984446342,-0.4371125552592712],"joint_velocity_rad_s":[-0.007822625845392235,-0.04028028438371867,0.2548953591365667,-0.20077314765822865,0.0004481948161592834,-0.009040770860855574],"linkage_position_rad":[0.4611763289550974,0.00030310934165291535,0.45828168238976985,-0.4509122756487586,0.4611747091566027,0.0002867495369996893,0.45820216455825896,-0.45101624998800777],"tcp_position_m":[0.07522917074497619,0.4772439952915684,0.42946457701412855],"tcp_quaternion_wxyz":[-0.00022978165460408185,0.7071798181793316,0.7070332389625442,0.000806822391736702],"object_position_m":[0.07523033339361013,0.4777438317517967,0.4233554183598317],"object_quaternion_wxyz":[0.9999993394048289,0.0009473465432723782,-0.0005385420913889154,-0.0003656457950987575],"object_linear_velocity_m_s":[0.0033148590262132484,-0.0006543595192734763,-0.08260817247447935],"object_angular_velocity_rad_s":[-0.016188858631512308,0.008101280619504549,0.00312393238038423],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325437890134914,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10926170796054,"right":46.108704838472235},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0096991787321237,-1.6260112027867826,1.3972807815762405,-1.366213328539034,-1.5708209918272458,-0.4389025094894773,180.0],"actuator_force":[-0.037152681857605785,-19.266362611215754,-21.861742220439737,-2.3390701515196497,0.0021338270782962354,0.009099970982504146,5.0],"issued_joint_targets_rad":[-2.0098648369129255,-1.6174223162224568,1.412676060834704,-1.3657958562281964,-1.5708221009558927,-0.43906388238590577],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.2400000000007525,"joint_targets_rad":[-2.0098648369129255,-1.6174223162224568,1.412676060834704,-1.3657958562281964,-1.5708221009558927,-0.43906388238590577],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.260000000000759,"qpos":[-2.0082825079404487,-1.6091822219207186,1.3625013841560512,-1.3255888775187123,-1.5709060613427923,-0.43729884420080584,0.4611779818179068,0.00030283847120496864,0.4582829555339947,-0.4509122252339134,0.46117643134266456,0.00028714269810089095,0.4582041533294784,-0.45102095320984087,0.07531086521093804,0.4777423076719012,0.4216471176097717,0.9999994537551955,0.0008597016278403206,-0.0004857599013806174,-0.0003426948190781141],"qvel":[-0.007799860336623523,-0.0400256744534807,0.2546546376550109,-0.20177045535532992,0.0004019242155413964,-0.008914920902163255,-0.00012287234724852868,6.640991664539318e-05,-8.963655227648959e-05,-0.00010492614327157939,-0.00014828318219950616,4.785851031616114e-05,-0.0003737024578010756,-0.00022938052378164317,0.003308907311189355,-0.0006550109794721147,-0.0826151740878599,-0.015331965705690766,0.007652085013275119,0.002958139283228946],"joint_position_rad":[-2.0082825079404487,-1.6091822219207186,1.3625013841560512,-1.3255888775187123,-1.5709060613427923,-0.43729884420080584],"joint_velocity_rad_s":[-0.007799860336623523,-0.0400256744534807,0.2546546376550109,-0.20177045535532992,0.0004019242155413964,-0.008914920902163255],"linkage_position_rad":[0.4611779818179068,0.00030283847120496864,0.4582829555339947,-0.4509122252339134,0.46117643134266456,0.00028714269810089095,0.4582041533294784,-0.45102095320984087],"tcp_position_m":[0.07531042715632029,0.4772407152645332,0.4277556995208567],"tcp_quaternion_wxyz":[-0.0001996519412368689,0.7071728473129706,0.7070403229622335,0.0007112438598382772],"object_position_m":[0.07531086521093804,0.4777423076719012,0.4216471176097717],"object_quaternion_wxyz":[0.9999994537551955,0.0008597016278403206,-0.0004857599013806174,-0.0003426948190781141],"object_linear_velocity_m_s":[0.003308907311189355,-0.0006550109794721147,-0.0826151740878599],"object_angular_velocity_rad_s":[-0.015329592235571603,0.00765750782838537,0.002956406808808413],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325304630462374,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10954283579776,"right":46.10898009727236},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0098604548277,-1.6268155896208407,1.402489824330464,-1.370618945122006,-1.5708212485114001,-0.43906388284094056,180.0],"actuator_force":[-0.03594963985324284,-19.256465618851962,-21.884974713178963,-2.337988266113939,0.0022139941419254683,0.008972770148972131,5.0],"issued_joint_targets_rad":[-2.010026349566592,-1.6182166210852864,1.4178744951358935,-1.370200042102636,-1.5708223394875802,-0.4392254731503842],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.260000000000759,"joint_targets_rad":[-2.010026349566592,-1.6182166210852864,1.4178744951358935,-1.370200042102636,-1.5708223394875802,-0.4392254731503842],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.280000000000766,"qpos":[-2.0084484248511347,-1.6100363203260721,1.3677638088138966,-1.3298159809954275,-1.5708980944123951,-0.4374827647234956,0.4611778610654741,0.0003025743912146018,0.4582826074285755,-0.45091021823741356,0.46117635567209214,0.0002873744381389532,0.45820432514632947,-0.45102244915742085,0.0753914202962584,0.47774084024589086,0.41993884317860103,0.9999995482828963,0.0007803099902048458,-0.0004374312695540335,-0.0003212541145274993],"qvel":[-0.007777688580391659,-0.03972391957468172,0.25433611199990075,-0.2026649644906403,0.0003605324587776382,-0.008802136050075878,-0.0001526708979670207,6.632475954863408e-05,-0.00011717346804520445,-7.51408121067324e-05,-0.000178199042715853,4.7270193512863916e-05,-0.00040220592620866764,-0.00018809784822490478,0.0033133617160158563,-0.0006569527045946953,-0.08261879478788188,-0.014542442636397025,0.007221603954794142,0.0028042946068719448],"joint_position_rad":[-2.0084484248511347,-1.6100363203260721,1.3677638088138966,-1.3298159809954275,-1.5708980944123951,-0.4374827647234956],"joint_velocity_rad_s":[-0.007777688580391659,-0.03972391957468172,0.25433611199990075,-0.2026649644906403,0.0003605324587776382,-0.008802136050075878],"linkage_position_rad":[0.4611778610654741,0.0003025743912146018,0.4582826074285755,-0.45091021823741356,0.46117635567209214,0.0002873744381389532,0.45820432514632947,-0.45102244915742085],"tcp_position_m":[0.07539167223821147,0.4772374326511501,0.42604675065347497],"tcp_quaternion_wxyz":[-0.00017238671472328363,0.7071665217609449,0.707046738545881,0.000624735927899702],"object_position_m":[0.0753914202962584,0.47774084024589086,0.41993884317860103],"object_quaternion_wxyz":[0.9999995482828963,0.0007803099902048458,-0.0004374312695540335,-0.0003212541145274993],"object_linear_velocity_m_s":[0.0033133617160158563,-0.0006569527045946953,-0.08261879478788188],"object_angular_velocity_rad_s":[-0.014540253838632321,0.007226571584344677,0.0028028469810903213],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632530271724613,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10889608943616,"right":46.10838088087737},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.010021961094323,-1.6276016005583993,1.4076785021076306,-1.375022560907976,-1.5708214599579018,-0.43922547382906835,180.0],"actuator_force":[-0.03599705421993349,-19.240992634781378,-21.90505821249235,-2.3367935072102455,0.0022639813688556387,0.008859052221225738,5.0],"issued_joint_targets_rad":[-2.0101878653873424,-1.618992650615954,1.4230510473609617,-1.3746007293669413,-1.5708225317499436,-0.4393870580171235],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.280000000000766,"joint_targets_rad":[-2.0101878653873424,-1.618992650615954,1.4230510473609617,-1.3746007293669413,-1.5708225317499436,-0.4393870580171235],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.3000000000007725,"qpos":[-2.0086138629250025,-1.6108831734504494,1.3730183608766833,-1.3340597669678709,-1.5708909092114867,-0.43766454433897795,0.4611777269022886,0.00030232546864966366,0.45828225095825387,-0.4509083477086602,0.46117626602406137,0.00028762396006755815,0.4582044812462293,-0.45102403469464863,0.07547202550751353,0.47773941416418814,0.4182305913811729,0.9999996263921648,0.0007084008714174053,-0.00039326558882109514,-0.00030120742333170075],"qvel":[-0.007757977119712486,-0.03936684654366326,0.2539465823155406,-0.2034577614742615,0.00032334735631731764,-0.008700135122073812,-0.00014054026164344262,6.658875313949277e-05,-0.00010510422720030847,-9.295961717261414e-05,-0.00016596512567314213,4.766374654929186e-05,-0.0003893629901262739,-0.00020484943322945288,0.003316535525071514,-0.0006590399455662632,-0.08262341091057242,-0.013827883425471645,0.006828477590402406,0.0026610327864708986],"joint_position_rad":[-2.0086138629250025,-1.6108831734504494,1.3730183608766833,-1.3340597669678709,-1.5708909092114867,-0.43766454433897795],"joint_velocity_rad_s":[-0.007757977119712486,-0.03936684654366326,0.2539465823155406,-0.2034577614742615,0.00032334735631731764,-0.008700135122073812],"linkage_position_rad":[0.4611777269022886,0.00030232546864966366,0.45828225095825387,-0.4509083477086602,0.46117626602406137,0.00028762396006755815,0.4582044812462293,-0.45102403469464863],"tcp_position_m":[0.0754728955768355,0.4772341403080404,0.42433777116613297],"tcp_quaternion_wxyz":[-0.00014773367377008371,0.7071607754333296,0.7070525561891017,0.0005464885634344259],"object_position_m":[0.07547202550751353,0.47773941416418814,0.4182305913811729],"object_quaternion_wxyz":[0.9999996263921648,0.0007084008714174053,-0.00039326558882109514,-0.00030120742333170075],"object_linear_velocity_m_s":[0.003316535525071514,-0.0006590399455662632,-0.08262341091057242],"object_angular_velocity_rad_s":[-0.013825860989207685,0.006833037797582635,0.002659835349348908],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632531093302634,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10886380555875,"right":46.108392440740104},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01018347146034,-1.6283693265773316,1.4128454569735671,-1.3794227382097282,-1.5708216278058704,-0.4393870588975656,180.0],"actuator_force":[-0.036026222790042084,-19.22556763629882,-21.924440732449057,-2.3357094735024475,0.0023059671764258383,0.008756232913555095,5.0],"issued_joint_targets_rad":[-2.0103493692016796,-1.6197504623785766,1.4282058296759084,-1.3789979609216576,-1.5708226830304517,-0.43954862300568737],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.3000000000007725,"joint_targets_rad":[-2.0103493692016796,-1.6197504623785766,1.4282058296759084,-1.3789979609216576,-1.5708226830304517,-0.43954862300568737],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.320000000000779,"qpos":[-2.0087788710577392,-1.6117217205530932,1.378263709509686,-1.3383183063482407,-1.5708844266772968,-0.4378443864204647,0.4611777188317465,0.00030208452263843317,0.45828202006827745,-0.45090668540110324,0.46117630185383335,0.00028787300900270875,0.4582047539756333,-0.4510257630802447,0.0755526648241834,0.47773802741602067,0.4165223467598728,0.9999996909585134,0.0006432549891498224,-0.00035288068410226656,-0.00028245551655682903],"qvel":[-0.007740644996554035,-0.03895900448758509,0.2534938075340832,-0.20415862108542743,0.00028992219164286224,-0.008607820043609842,-0.00013677693314656145,6.635847620935029e-05,-0.00010095079174018761,-9.684393556437212e-05,-0.00016214846987035953,4.701542177599755e-05,-0.00038488155779521285,-0.0002046021783881705,0.0033194200445534647,-0.0006611762309950109,-0.08262860074881981,-0.013181991325573399,0.006472424853758373,0.002527323218347481],"joint_position_rad":[-2.0087788710577392,-1.6117217205530932,1.378263709509686,-1.3383183063482407,-1.5708844266772968,-0.4378443864204647],"joint_velocity_rad_s":[-0.007740644996554035,-0.03895900448758509,0.2534938075340832,-0.20415862108542743,0.00028992219164286224,-0.008607820043609842],"linkage_position_rad":[0.4611777188317465,0.00030208452263843317,0.45828202006827745,-0.45090668540110324,0.46117630185383335,0.00028787300900270875,0.4582047539756333,-0.4510257630802447],"tcp_position_m":[0.07555410120906328,0.4772308410636029,0.4226287552160339],"tcp_quaternion_wxyz":[-0.000125442842974833,0.7071555553558388,0.7070578324957617,0.00047570985143066403],"object_position_m":[0.0755526648241834,0.47773802741602067,0.4165223467598728],"object_quaternion_wxyz":[0.9999996909585134,0.0006432549891498224,-0.00035288068410226656,-0.00028245551655682903],"object_linear_velocity_m_s":[0.0033194200445534647,-0.0006611762309950109,-0.08262860074881981],"object_angular_velocity_rad_s":[-0.013180117139480668,0.006476620177458158,0.0025263500769982673],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632530944962243,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108871422619934,"right":46.10843929428366},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0103449706006744,-1.6291188459236954,1.417990803475315,-1.3838195140362153,-1.570821757074284,-0.43954862406820633,180.0],"actuator_force":[-0.03594108724882972,-19.210648946170295,-21.943335082375143,-2.3347417354444815,0.0023425823420666347,0.008663180490145805,5.0],"issued_joint_targets_rad":[-2.010510862928344,-1.620490108223355,1.4333390661004433,-1.3833918976579065,-1.570822798246681,-0.43971017102427157],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.320000000000779,"joint_targets_rad":[-2.010510862928344,-1.620490108223355,1.4333390661004433,-1.3833918976579065,-1.570822798246681,-0.43971017102427157],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.340000000000786,"qpos":[-2.0089434947620264,-1.6125510020990643,1.3834986731057257,-1.3425898678310848,-1.5708785759904682,-0.4380224750458395,0.46117771086142395,0.0003018474987829501,0.45828179495075194,-0.4509050522907934,0.46117633671555175,0.0002881131851186232,0.4582050194149467,-0.4510274274655633,0.07563333744466778,0.4777366791981761,0.4148140957788259,0.9999997443502446,0.0005842207675085214,-0.00031592652663895186,-0.00026490747451681315],"qvel":[-0.007725468346169241,-0.038505488395437416,0.2529848896213368,-0.2047770877839833,0.00025986751553605937,-0.008524275719400723,-0.00013566746320711463,6.614859556529544e-05,-9.932864138789362e-05,-9.780244564580393e-05,-0.00016099237076392476,4.635185445333238e-05,-0.00038299493938587085,-0.00020113286192942098,0.003322317873756006,-0.000663348511091059,-0.08263443877861217,-0.01259820529147259,0.00614954067126023,0.002402423875371755],"joint_position_rad":[-2.0089434947620264,-1.6125510020990643,1.3834986731057257,-1.3425898678310848,-1.5708785759904682,-0.4380224750458395],"joint_velocity_rad_s":[-0.007725468346169241,-0.038505488395437416,0.2529848896213368,-0.2047770877839833,0.00025986751553605937,-0.008524275719400723],"linkage_position_rad":[0.46117771086142395,0.0003018474987829501,0.45828179495075194,-0.4509050522907934,0.46117633671555175,0.0002881131851186232,0.4582050194149467,-0.4510274274655633],"tcp_position_m":[0.0756352940266076,0.4772275382915892,0.4209196941590402],"tcp_quaternion_wxyz":[-0.00010528650257466259,0.7071508138718586,0.7070626180722036,0.00041167948741754933],"object_position_m":[0.07563333744466778,0.4777366791981761,0.4148140957788259],"object_quaternion_wxyz":[0.9999997443502446,0.0005842207675085214,-0.00031592652663895186,-0.00026490747451681315],"object_linear_velocity_m_s":[0.003322317873756006,-0.000663348511091059,-0.08263443877861217],"object_angular_velocity_rad_s":[-0.012596463882846947,0.006153408287624302,0.0024016518491357043],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632530688199662,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10883650403625,"right":46.108440778657545},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.010506460333594,-1.6298502290445605,1.4231147677366267,-1.3882130439723173,-1.5708218524384892,-0.4397101722511393,180.0],"actuator_force":[-0.035743804667163204,-19.196258532816955,-21.961766586732665,-2.3338792922179437,0.002375024435764317,0.008578969290198302,5.0],"issued_joint_targets_rad":[-2.0106723498570807,-1.6212116363088407,1.4384509797583358,-1.3877827043731668,-1.5708228817203171,-0.4398717062094326],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.340000000000786,"joint_targets_rad":[-2.0106723498570807,-1.6212116363088407,1.4384509797583358,-1.3877827043731668,-1.5708228817203171,-0.4398717062094326],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.360000000000793,"qpos":[-2.0091077751179154,-1.613370156063034,1.388722204330992,-1.3468729016556167,-1.5708732935804646,-0.43819897703921973,0.4611776968502694,0.0003016156556383365,0.45828156984714347,-0.4509034507832206,0.4611763644513289,0.00028834578699000487,0.45820527167775327,-0.45102903016063634,0.07571404409385611,0.4777353689098247,0.41310582416471775,0.9999997885158419,0.0005307093457513132,-0.0002820884476104827,-0.00024847931186216306],"qvel":[-0.007712231915808925,-0.03801096057363642,0.2524262169310192,-0.20532181764176943,0.00023284012918572811,-0.008448680434779579,-0.00013394206679409016,6.599811460645547e-05,-9.711456594875968e-05,-9.990217859553365e-05,-0.0001592214572482389,4.57542852543585e-05,-0.0003805236437714506,-0.00019887393863765097,0.0033252155551695083,-0.0006655504907877043,-0.08264089994602249,-0.012070534993788708,0.005856618451858124,0.0022856688723075507],"joint_position_rad":[-2.0091077751179154,-1.613370156063034,1.388722204330992,-1.3468729016556167,-1.5708732935804646,-0.43819897703921973],"joint_velocity_rad_s":[-0.007712231915808925,-0.03801096057363642,0.2524262169310192,-0.20532181764176943,0.00023284012918572811,-0.008448680434779579],"linkage_position_rad":[0.4611776968502694,0.0003016156556383365,0.45828156984714347,-0.4509034507832206,0.4611763644513289,0.00028834578699000487,0.45820527167775327,-0.45102903016063634],"tcp_position_m":[0.07571647860060049,0.47722423514967305,0.4192105800035107],"tcp_quaternion_wxyz":[-8.705872664546679e-05,0.7071465076047582,0.7070669586868926,0.0003537462924322524],"object_position_m":[0.07571404409385611,0.4777353689098247,0.41310582416471775],"object_quaternion_wxyz":[0.9999997885158419,0.0005307093457513132,-0.0002820884476104827,-0.00024847931186216306],"object_linear_velocity_m_s":[0.0033252155551695083,-0.0006655504907877043,-0.08264089994602249],"object_angular_velocity_rad_s":[-0.01206891296351471,0.005860190868143369,0.002285077632990572],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632530445482275,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10880091964855,"right":46.10843908687337},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01066794386159,-1.630563540839142,1.4282175747240378,-1.3926034880205536,-1.5708219180027065,-0.43987170758467775,180.0],"actuator_force":[-0.035444721025214676,-19.182385322761093,-21.97974598631572,-2.333111418291537,0.0024037759604880193,0.008502770748947341,5.0],"issued_joint_targets_rad":[-2.010833833211379,-1.621915091540019,1.4435417846211671,-1.3921705410213954,-1.5708229372364721,-0.4400332325140157],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.360000000000793,"joint_targets_rad":[-2.010833833211379,-1.621915091540019,1.4435417846211671,-1.3921705410213954,-1.5708229372364721,-0.4400332325140157],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.380000000000799,"qpos":[-2.009271749100177,-1.614178408636239,1.3939333763862838,-1.351166021910772,-1.5708685223306438,-0.4383740436139332,0.4611776852636234,0.00030138945284715,0.4582813528951097,-0.4509018938129992,0.46117639352384404,0.00028857131905140807,0.4582055189680312,-0.4510305849536781,0.07579478521606949,0.47773409607496464,0.411397518985561,0.9999998250597959,0.00048218864185909375,-0.00025108159367757726,-0.00023309338060167572],"qvel":[-0.007700741525020366,-0.03747962149390608,0.25182352260526464,-0.20580061634345015,0.00020853280791360842,-0.008380290397807156,-0.00013208284656900644,6.585575059863408e-05,-9.477389017778371e-05,-0.00010218822848908794,-0.00015731840113952192,4.516276375722986e-05,-0.0003779375263927975,-0.00019682618754501306,0.0033281081497181135,-0.0006677763127665005,-0.08264790224898753,-0.011593561249688182,0.005590833473081304,0.002176445967805847],"joint_position_rad":[-2.009271749100177,-1.614178408636239,1.3939333763862838,-1.351166021910772,-1.5708685223306438,-0.4383740436139332],"joint_velocity_rad_s":[-0.007700741525020366,-0.03747962149390608,0.25182352260526464,-0.20580061634345015,0.00020853280791360842,-0.008380290397807156],"linkage_position_rad":[0.4611776852636234,0.00030138945284715,0.4582813528951097,-0.4509018938129992,0.46117639352384404,0.00028857131905140807,0.4582055189680312,-0.4510305849536781],"tcp_position_m":[0.07579765911290491,0.47722093455507286,0.41750140558857796],"tcp_quaternion_wxyz":[-7.057342772561319e-05,0.7071425970397583,0.7070708957922011,0.0003013218719208546],"object_position_m":[0.07579478521606949,0.47773409607496464,0.411397518985561],"object_quaternion_wxyz":[0.9999998250597959,0.00048218864185909375,-0.00025108159367757726,-0.00023309338060167572],"object_linear_velocity_m_s":[0.0033281081497181135,-0.0006677763127665005,-0.08264790224898753],"object_angular_velocity_rad_s":[-0.011592046929864304,0.005594139176880215,0.0021760177550501445],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632530162034536,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1087688997633,"right":46.10843865370165},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.010829424330394,-1.6312588412818712,1.4332994400179624,-1.3969910018015215,-1.5708219573566953,-0.44003323402324884,180.0],"actuator_force":[-0.03505385042626585,-19.169016693701906,-21.997281778748857,-2.33242831102973,0.002429206182910093,0.008433835122872324,5.0],"issued_joint_targets_rad":[-2.0109953160125063,-1.6226005157324548,1.4486116855495648,-1.396555562486115,-1.5708229681146602,-0.4401947535896336],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.380000000000799,"joint_targets_rad":[-2.0109953160125063,-1.6226005157324548,1.4486116855495648,-1.396555562486115,-1.5708229681146602,-0.4401947535896336],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.400000000000806,"qpos":[-2.00943544999001,-1.6149750653967325,1.3991313706081256,-1.3554679903703164,-1.5708642109136108,-0.43854781184053465,0.4611776760472058,0.0003011688861755711,0.45828114402679504,-0.45090038088344503,0.4611764238717701,0.00028878976126492324,0.4582057612412942,-0.4510320918367452,0.0758755612195987,0.47773286033658774,0.40968916885049667,0.9999998553039993,0.00043817789898422554,-0.00022264793160767802,-0.00021867786149040063],"qvel":[-0.007690822850260511,-0.03691524950015898,0.251181950075071,-0.20622051860395268,0.0001866698311369374,-0.00831843172814267,-0.00013029560527702137,6.571813223777962e-05,-9.250473527461529e-05,-0.00010439792569000587,-0.00015548884279547473,4.457501447692153e-05,-0.00037543373783600014,-0.0001947314473907001,0.003330997408331035,-0.000670020233451881,-0.08265537741161819,-0.011162386770974128,0.005349623485932972,0.0020741921789357094],"joint_position_rad":[-2.00943544999001,-1.6149750653967325,1.3991313706081256,-1.3554679903703164,-1.5708642109136108,-0.43854781184053465],"joint_velocity_rad_s":[-0.007690822850260511,-0.03691524950015898,0.251181950075071,-0.20622051860395268,0.0001866698311369374,-0.00831843172814267],"linkage_position_rad":[0.4611776760472058,0.0003011688861755711,0.45828114402679504,-0.45090038088344503,0.4611764238717701,0.00028878976126492324,0.4582057612412942,-0.4510320918367452],"tcp_position_m":[0.0758788393928214,0.4772176392142445,0.41579216453336254],"tcp_quaternion_wxyz":[-5.566246117483542e-05,0.7071390461889316,0.7070744669441719,0.00025387460099298115],"object_position_m":[0.0758755612195987,0.47773286033658774,0.40968916885049667],"object_quaternion_wxyz":[0.9999998553039993,0.00043817789898422554,-0.00022264793160767802,-0.00021867786149040063],"object_linear_velocity_m_s":[0.003330997408331035,-0.000670020233451881,-0.08265537741161819],"object_angular_velocity_rad_s":[-0.011160969978981208,0.005352687502960618,0.002073911445831558],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632529837105845,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108737432782824,"right":46.10843667709606},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0109909046918335,-1.6319361857521535,1.4383605698796713,-1.401375736283121,-1.5708219736444538,-0.4401947552198883,180.0],"actuator_force":[-0.034580263542920875,-19.15614091077805,-22.014381486937054,-2.3318210960070473,0.0024516514648667,0.008371483137437963,5.0],"issued_joint_targets_rad":[-2.0111568010841046,-1.6232679477298817,1.453660878852593,-1.4009379189251518,-1.5708229772708344,-0.44035627280628026],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.400000000000806,"joint_targets_rad":[-2.0111568010841046,-1.6232679477298817,1.453660878852593,-1.4009379189251518,-1.5708229772708344,-0.44035627280628026],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.420000000000813,"qpos":[-2.009598907752282,-1.6157595033035996,1.4043154653226937,-1.3597777018883406,-1.5708603131985082,-0.4387204059753408,0.46117766842928726,0.0003009539905455252,0.4582809424745022,-0.45089891100992024,0.4611764547206726,0.0002890011785029616,0.4582059977899962,-0.4510335505588169,0.07595637252111109,0.4777316614548418,0.4079807636272676,0.9999998803380639,0.0003982427350281333,-0.0001965537380793586,-0.00020516629627912616],"qvel":[-0.007682319429573785,-0.036321241499526036,0.25050611248333415,-0.20658786324402442,0.0001670037279784913,-0.00826249384589807,-0.00012854062055375385,6.558730923026754e-05,-9.026953454790129e-05,-0.00010659585479908619,-0.00015369276413757817,4.3995719160820225e-05,-0.0003729721372722464,-0.00019266885097747228,0.0033338851701315035,-0.0006722765809873946,-0.08266326771524997,-0.010772587103185984,0.005130669098752456,0.0019783895367039292],"joint_position_rad":[-2.009598907752282,-1.6157595033035996,1.4043154653226937,-1.3597777018883406,-1.5708603131985082,-0.4387204059753408],"joint_velocity_rad_s":[-0.007682319429573785,-0.036321241499526036,0.25050611248333415,-0.20658786324402442,0.0001670037279784913,-0.00826249384589807],"linkage_position_rad":[0.46117766842928726,0.0003009539905455252,0.4582809424745022,-0.45089891100992024,0.4611764547206726,0.0002890011785029616,0.4582059977899962,-0.4510335505588169],"tcp_position_m":[0.07596002295636517,0.47721435165224174,0.4140828511634287],"tcp_quaternion_wxyz":[-4.217389688612518e-05,0.7071358222862283,0.7070777061765869,0.00021092415121302238],"object_position_m":[0.07595637252111109,0.4777316614548418,0.4079807636272676],"object_quaternion_wxyz":[0.9999998803380639,0.0003982427350281333,-0.0001965537380793586,-0.00020516629627912616],"object_linear_velocity_m_s":[0.0033338851701315035,-0.0006722765809873946,-0.08266326771524997],"object_angular_velocity_rad_s":[-0.010771258929551419,0.005133513470167683,0.0019782426493550847],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325294797735145,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10870627130932,"right":46.108433101243236},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.011152387707546,-1.632595625301489,1.4434011618338896,-1.4057578380855291,-1.57082196962422,-0.440356274545871,180.0],"actuator_force":[-0.034032138698876224,-19.143747395968603,-22.031051970941917,-2.3312817741918934,0.0024714143463597793,0.008315099324676112,5.0],"issued_joint_targets_rad":[-2.0113182910664738,-1.6239174235196907,1.4586895528699149,-1.4053177561497507,-1.5708229672705336,-0.4405177932791414],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.420000000000813,"joint_targets_rad":[-2.0113182910664738,-1.6239174235196907,1.4586895528699149,-1.4053177561497507,-1.5708229672705336,-0.4405177932791414],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.440000000000819,"qpos":[-2.0097621493746445,-1.616531163473867,1.4094850258221083,-1.3640941712274306,-1.5708567877195574,-0.4388919386641586,0.4611776622545191,0.00030074480276872485,0.4582807480469888,-0.4508974839893226,0.46117648591706634,0.0002892056835237543,0.4582062285252759,-0.45103496190705417,0.07603721954786337,0.4777304993061442,0.4062722942971743,0.9999999010606103,0.00036199066645314036,-0.00017258728137233836,-0.00019249716049780133],"qvel":[-0.007675090835711699,-0.03570065052312058,0.24980014598198286,-0.20690836162767695,0.00014931233617166708,-0.008211923527203086,-0.00012680406504630835,6.546188781880055e-05,-8.805576210457831e-05,-0.00010879012661609328,-0.00015191608353589078,4.3425563508348245e-05,-0.00037053798346219666,-0.00019065801215735795,0.003336773338290051,-0.0006745397262971454,-0.0826715208149256,-0.01042016498036212,0.00493187281413057,0.001888561226873234],"joint_position_rad":[-2.0097621493746445,-1.616531163473867,1.4094850258221083,-1.3640941712274306,-1.5708567877195574,-0.4388919386641586],"joint_velocity_rad_s":[-0.007675090835711699,-0.03570065052312058,0.24980014598198286,-0.20690836162767695,0.00014931233617166708,-0.008211923527203086],"linkage_position_rad":[0.4611776622545191,0.00030074480276872485,0.4582807480469888,-0.4508974839893226,0.46117648591706634,0.0002892056835237543,0.4582062285252759,-0.45103496190705417],"tcp_position_m":[0.07604121304236065,0.4772110742399368,0.41237346043996637],"tcp_quaternion_wxyz":[-2.9970455645049817e-05,0.7071328955073463,0.707080644337403,0.00017203653935630788],"object_position_m":[0.07603721954786337,0.4777304993061442,0.4062722942971743],"object_quaternion_wxyz":[0.9999999010606103,0.00036199066645314036,-0.00017258728137233836,-0.00019249716049780133],"object_linear_velocity_m_s":[0.003336773338290051,-0.0006745397262971454,-0.0826715208149256],"object_angular_velocity_rad_s":[-0.010418917607191871,0.004934517004600215,0.0018885362072866467],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325290946360224,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10867558186013,"right":46.10842826585672},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0113138759625073,-1.6332372069038277,1.448421405271828,-1.4101374498242696,-1.5708219477197922,-0.4405177951175358,180.0],"actuator_force":[-0.033416841441066936,-19.131826650672792,-22.047299493353876,-2.330803135651763,0.0024887662654009546,0.008264126031718888,5.0],"issued_joint_targets_rad":[-2.0114797884314446,-1.6245489763401906,1.4636978885082912,-1.4096952159752145,-1.5708229403743772,-0.4406793178939352],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.440000000000819,"joint_targets_rad":[-2.0114797884314446,-1.6245489763401906,1.4636978885082912,-1.4096952159752145,-1.5708229403743772,-0.4406793178939352],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.460000000000826,"qpos":[-2.0099251991719216,-1.6172895446725133,1.414639495348533,-1.3684165211832595,-1.570853597199881,-0.4390625120330693,0.4611776574164996,0.0003005413302627777,0.45828056058459293,-0.45089609949640513,0.46117651736023735,0.0002894033962983705,0.4582064534244652,-0.45103632674986904,0.07611810274281106,0.4777293738826589,0.4045637528510332,0.9999999182131531,0.00032906706487588906,-0.00015055671931879486,-0.00018061347214202178],"qvel":[-0.007669011026901594,-0.0350562196997888,0.24906775770168602,-0.2071871594178164,0.00013339616820334408,-0.008166219522804939,-0.00012508802087265276,6.534037940816146e-05,-8.586606322532306e-05,-0.00011096926741585971,-0.00015016066439095584,4.2864775763978204e-05,-0.0003681320667205103,-0.00018869688877192313,0.0033396639822141903,-0.0006768040714478423,-0.08268008946372918,-0.010101509029522485,0.004751337597174558,0.0018042681657214502],"joint_position_rad":[-2.0099251991719216,-1.6172895446725133,1.414639495348533,-1.3684165211832595,-1.570853597199881,-0.4390625120330693],"joint_velocity_rad_s":[-0.007669011026901594,-0.0350562196997888,0.24906775770168602,-0.2071871594178164,0.00013339616820334408,-0.008166219522804939],"linkage_position_rad":[0.4611776574164996,0.0003005413302627777,0.45828056058459293,-0.45089609949640513,0.46117651736023735,0.0002894033962983705,0.4582064534244652,-0.45103632674986904],"tcp_position_m":[0.0761224126453526,0.4772078092189904,0.41066398789621594],"tcp_quaternion_wxyz":[-1.892809639018892e-05,0.7071302387125136,0.7070833093918225,0.0001368196545191557],"object_position_m":[0.07611810274281106,0.4777293738826589,0.4045637528510332],"object_quaternion_wxyz":[0.9999999182131531,0.00032906706487588906,-0.00015055671931879486,-0.00018061347214202178],"object_linear_velocity_m_s":[0.0033396639822141903,-0.0006768040714478423,-0.08268008946372918],"object_angular_velocity_rad_s":[-0.010100335576115942,0.004753798843814884,0.0018043544696303736],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632528685259032,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10864533812283,"right":46.10842230158027},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0114753718792255,-1.63386097368447,1.4534214820064322,-1.4145147104281766,-1.5708219100643868,-0.44067931982163944,180.0],"actuator_force":[-0.03274100384714984,-19.120370143998116,-22.063129764876066,-2.330378680676972,0.0025039509267799076,0.008218057995435402,5.0],"issued_joint_targets_rad":[-2.011641295497216,-1.625162636778399,1.4686860597231475,-1.4140704365341659,-1.570822898577085,-0.44084084933053375],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.460000000000826,"joint_targets_rad":[-2.011641295497216,-1.625162636778399,1.4686860597231475,-1.4140704365341659,-1.570822898577085,-0.44084084933053375],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.480000000000833,"qpos":[-2.010088079059278,-1.6180341974455077,1.4197783869852096,-1.3727439718774812,-1.5708507081246976,-0.4392322186769302,0.4611776537822795,0.0003003435578667803,0.4582803798893237,-0.45089475704229826,0.46117654892619114,0.0002895944452596135,0.45820667245559565,-0.451037645962684,0.07619902256996407,0.4777282852919433,0.40285513218728086,0.9999999324079205,0.0002991515040005876,-0.00013028820052729683,-0.00016946243275899544],"qvel":[-0.007663966871506034,-0.034390412861438104,0.2483122689122584,-0.20742889222292554,0.00011907606068492734,-0.008124927684599733,-0.00012339245116699284,6.52217047577222e-05,-8.370093030923766e-05,-0.00011312712960600078,-0.00014842627882992175,4.2313752070260844e-05,-0.0003657532804566715,-0.00018678733720817694,0.0033425593298689175,-0.0006790640384295648,-0.08268893127628783,-0.009813356518502441,0.0045873475365456745,0.0017251058698321976],"joint_position_rad":[-2.010088079059278,-1.6180341974455077,1.4197783869852096,-1.3727439718774812,-1.5708507081246976,-0.4392322186769302],"joint_velocity_rad_s":[-0.007663966871506034,-0.034390412861438104,0.2483122689122584,-0.20742889222292554,0.00011907606068492734,-0.008124927684599733],"linkage_position_rad":[0.4611776537822795,0.0003003435578667803,0.4582803798893237,-0.45089475704229826,0.46117654892619114,0.0002895944452596135,0.45820667245559565,-0.451037645962684],"tcp_position_m":[0.07620362454549794,0.4772045587246569,0.40895442958024075],"tcp_quaternion_wxyz":[-8.934739710815568e-06,0.7071278272105319,0.7070857266955968,0.00010491921709237429],"object_position_m":[0.07619902256996407,0.4777282852919433,0.40285513218728086],"object_quaternion_wxyz":[0.9999999324079205,0.0002991515040005876,-0.00013028820052729683,-0.00016946243275899544],"object_linear_velocity_m_s":[0.0033425593298689175,-0.0006790640384295648,-0.08268893127628783],"object_angular_velocity_rad_s":[-0.009812250910015414,0.004589641147511191,0.0017252941947358408],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632528255091408,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10861549638023,"right":46.108415306979445},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0116368777319664,-1.6344669651275958,1.4584015667707795,-1.4188897554230462,-1.5708218585381948,-0.44084085133898965,180.0],"actuator_force":[-0.032010596774853184,-19.109370219600805,-22.07854799376355,-2.330002550489894,0.002517187182888847,0.008176437430250871,5.0],"issued_joint_targets_rad":[-2.0118028144428335,-1.6257584328592325,1.4736542339515726,-1.4184435525571062,-1.570822843641014,-0.44100239008481956],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.480000000000833,"joint_targets_rad":[-2.0118028144428335,-1.6257584328592325,1.4736542339515726,-1.4184435525571062,-1.570822843641014,-0.44100239008481956],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.500000000000839,"qpos":[-2.0102508087974638,-1.6187647188322818,1.4249012763633135,-1.3770758311036797,-1.5708480903586308,-0.4394011425552292,0.4611776512310175,0.0003001514528092196,0.45828020576402323,-0.450893456053315,0.46117658050584803,0.00028977896782756075,0.45820688561220063,-0.4510389204801081,0.07627997951934895,0.47772723375681925,0.4011464260187379,0.9999999441506878,0.0002719544590279374,-0.00011162414821168879,-0.00015899509824851473],"qvel":[-0.007659856829512686,-0.03370544212835023,0.2475366538404681,-0.2076377357620424,0.00010619107409159202,-0.00808763655119724,-0.00012171638782568624,6.510493103128365e-05,-8.155987706567365e-05,-0.00011525956104849689,-0.00014671179197342054,4.177281740652313e-05,-0.00036339976011959946,-0.00018493192206094948,0.003345461760588445,-0.0006813140554823658,-0.08269800821732744,-0.009552759698499119,0.004438350447533314,0.0016507015872863555],"joint_position_rad":[-2.0102508087974638,-1.6187647188322818,1.4249012763633135,-1.3770758311036797,-1.5708480903586308,-0.4394011425552292],"joint_velocity_rad_s":[-0.007659856829512686,-0.03370544212835023,0.2475366538404681,-0.2076377357620424,0.00010619107409159202,-0.00808763655119724],"linkage_position_rad":[0.4611776512310175,0.0003001514528092196,0.45828020576402323,-0.450893456053315,0.46117658050584803,0.00028977896782756075,0.45820688561220063,-0.4510389204801081],"tcp_position_m":[0.07628485133574546,0.4772013248066607,0.4072447820032724],"tcp_quaternion_wxyz":[1.1088561871403335e-07,0.7071256385425468,0.7070879192416473,7.601512769612034e-05],"object_position_m":[0.07627997951934895,0.47772723375681925,0.4011464260187379],"object_quaternion_wxyz":[0.9999999441506878,0.0002719544590279374,-0.00011162414821168879,-0.00015899509824851473],"object_linear_velocity_m_s":[0.003345461760588445,-0.0006813140554823658,-0.08269800821732744],"object_angular_velocity_rad_s":[-0.009551716554130982,0.004440490057693575,0.0016509837066797728],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325278072524775,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108586030648574,"right":46.10840738507821},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.011798395660678,-1.6350552172644561,1.4633618276661757,-1.423262717185371,-1.5708217948006054,-0.44100239216631204,180.0],"actuator_force":[-0.031230994623456354,-19.098820013008662,-22.093558930463132,-2.32966946464137,0.002528671603499788,0.008138849578301688,5.0],"issued_joint_targets_rad":[-2.0119643473221926,-1.6263363901264938,1.4786025725019762,-1.4228146956243282,-1.570822777125066,-0.44116394248891444],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.500000000000839,"joint_targets_rad":[-2.0119643473221926,-1.6263363901264938,1.4786025725019762,-1.4228146956243282,-1.570822777125066,-0.44116394248891444],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.520000000000846,"qpos":[-2.0104134062130967,-1.6194807476004822,1.4300077951025447,-1.3814114856227198,-1.5708457168024563,-0.43956935980401624,0.4611776496563525,0.0002999649667995011,0.45828003801627404,-0.4508921958861032,0.4611766120070063,0.0002899571084286783,0.458207092913318,-0.4510401512868509,0.07636097411166949,0.4777262196155155,0.3994376287893407,0.9999999538595491,0.0002472143245919103,-9.44217087798551e-05,-0.00014916607686129126],"qvel":[-0.007656589772644587,-0.03300329277489372,0.2467435745822817,-0.20781745109236738,9.4596614870951e-05,-0.00805397334914936,-0.00012005910323775614,6.498922899482119e-05,-7.944257443631456e-05,-0.00011736272958098797,-0.00014501633118991749,4.1242202692291834e-05,-0.00036106999784661387,-0.0001831323663888897,0.0033483738005897676,-0.000683548542135271,-0.08270728614838968,-0.009317055391277852,0.00430294214863216,0.00158071167378853],"joint_position_rad":[-2.0104134062130967,-1.6194807476004822,1.4300077951025447,-1.3814114856227198,-1.5708457168024563,-0.43956935980401624],"joint_velocity_rad_s":[-0.007656589772644587,-0.03300329277489372,0.2467435745822817,-0.20781745109236738,9.4596614870951e-05,-0.00805397334914936],"linkage_position_rad":[0.4611776496563525,0.0002999649667995011,0.45828003801627404,-0.4508921958861032,0.4611766120070063,0.0002899571084286783,0.458207092913318,-0.4510401512868509],"tcp_position_m":[0.0763660954466122,0.4771981094483937,0.4055350420931072],"tcp_quaternion_wxyz":[8.300284911738592e-06,0.7071236522840997,0.7070899078827603,4.981816847430245e-05],"object_position_m":[0.07636097411166949,0.4777262196155155,0.3994376287893407],"object_quaternion_wxyz":[0.9999999538595491,0.0002472143245919103,-9.44217087798551e-05,-0.00014916607686129126],"object_linear_velocity_m_s":[0.0033483738005897676,-0.000683548542135271,-0.08270728614838968],"object_angular_velocity_rad_s":[-0.009316069929031745,0.00430493993866221,0.0015810802940292633],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325273445178415,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10855691926045,"right":46.108398631208935},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0119599276844986,-1.6356257628436761,1.4683024265653482,-1.4276337251699636,-1.5708217203179362,-0.4411639446364882,180.0],"actuator_force":[-0.03040703374563236,-19.088713376430405,-22.108166907305986,-2.3293746643852273,0.0025385807729207954,0.0081049186789528,5.0],"issued_joint_targets_rad":[-2.0121258960775137,-1.626896531715996,1.483531230904556,-1.4271839943923164,-1.5708227004096504,-0.44132550872991344],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.520000000000846,"joint_targets_rad":[-2.0121258960775137,-1.626896531715996,1.483531230904556,-1.4271839943923164,-1.5708227004096504,-0.44132550872991344],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.540000000000853,"qpos":[-2.0105758873965773,-1.6201819599514808,1.435097624911622,-1.3857503933140756,-1.5708435630851256,-0.43973693947181214,0.46117764896232627,0.0002997840380426655,0.45827987645595425,-0.4508909758349618,0.4611766433498981,0.00029012901686319804,0.4582072943975507,-0.45104133940342694,0.07644200690271999,0.4777252433221105,0.3977287355993344,0.9999999618803259,0.00022469472049188978,-7.855134936981503e-05,-0.00013993325208517363],"qvel":[-0.007654083928188417,-0.03228574564008171,0.2459354125029786,-0.20797142538561678,8.416275546571926e-05,-0.008023600370601637,-0.00011841998800172087,6.487387784138353e-05,-7.7348739801188e-05,-0.00011943331912212995,-0.00014333916141685946,4.072207185035358e-05,-0.0003587627096066411,-0.00018138988076088204,0.003351298119901135,-0.0006857618931579099,-0.08271673443924916,-0.009103837512526958,0.004179852248971708,0.0015148191927967308],"joint_position_rad":[-2.0105758873965773,-1.6201819599514808,1.435097624911622,-1.3857503933140756,-1.5708435630851256,-0.43973693947181214],"joint_velocity_rad_s":[-0.007654083928188417,-0.03228574564008171,0.2459354125029786,-0.20797142538561678,8.416275546571926e-05,-0.008023600370601637],"linkage_position_rad":[0.46117764896232627,0.0002997840380426655,0.45827987645595425,-0.4508909758349618,0.4611766433498981,0.00029012901686319804,0.4582072943975507,-0.45104133940342694],"tcp_position_m":[0.07644735916880066,0.4771949145846233,0.4038252071520976],"tcp_quaternion_wxyz":[1.5716139348350065e-05,0.7071218498640467,0.7070917115327836,2.6067022772068797e-05],"object_position_m":[0.07644200690271999,0.4777252433221105,0.3977287355993344],"object_quaternion_wxyz":[0.9999999618803259,0.00022469472049188978,-7.855134936981503e-05,-0.00013993325208517363],"object_linear_velocity_m_s":[0.003351298119901135,-0.0006857618931579099,-0.08271673443924916],"object_angular_velocity_rad_s":[-0.009102905468039687,0.004181719133241476,0.0015152678295296794],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325268693710384,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10852814234589,"right":46.108389131639775},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.012121475714782,-1.6361786314849667,1.4732235194750396,-1.4320029061143706,-1.5708216363873428,-0.44132551093729827,180.0],"actuator_force":[-0.029543065133566415,-19.07904481093874,-22.122375874356294,-2.3291138615858245,0.0025470733448855754,0.00807430431711964,5.0],"issued_joint_targets_rad":[-2.0122874625522282,-1.6274388784211888,1.48844035922629,-1.4315515747974026,-1.570822614718302,-0.4414870908672345],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.540000000000853,"joint_targets_rad":[-2.0122874625522282,-1.6274388784211888,1.48844035922629,-1.4315515747974026,-1.570822614718302,-0.4414870908672345],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.560000000000859,"qpos":[-2.0107382668799865,-1.6208680656501124,1.440170492282282,-1.3900920760989042,-1.5708416072873748,-0.43990394418664686,0.46117764906209335,0.0002996085931989156,0.45827972089532454,-0.4508897951422534,0.46117667446557425,0.0002902948470300479,0.45820749012005246,-0.45104248587746015,0.076523078487608,0.47772430544730937,0.39601974213795843,0.9999999684992508,0.0002041820574619571,-6.389559000463103e-05,-0.00013125752828872382],"qvel":[-0.0076522659331567655,-0.03155439732303426,0.24511429647757568,-0.20810270869243377,7.47727305996396e-05,-0.007996211691813452,-0.00011679846879103326,6.475825509278281e-05,-7.52780656412716e-05,-0.00012146856451377459,-0.00014167960094062194,4.0212531825407254e-05,-0.0003564767432777807,-0.0001797053170120328,0.003354237531427235,-0.0006879484613399353,-0.08272632561665266,-0.00891093224776087,0.004067931303332772,0.0014527317199771006],"joint_position_rad":[-2.0107382668799865,-1.6208680656501124,1.440170492282282,-1.3900920760989042,-1.5708416072873748,-0.43990394418664686],"joint_velocity_rad_s":[-0.0076522659331567655,-0.03155439732303426,0.24511429647757568,-0.20810270869243377,7.47727305996396e-05,-0.007996211691813452],"linkage_position_rad":[0.46117764906209335,0.0002996085931989156,0.45827972089532454,-0.4508897951422534,0.46117667446557425,0.0002902948470300479,0.45820749012005246,-0.45104248587746015],"tcp_position_m":[0.0765286446739052,0.4771917421179179,0.40211527481928444],"tcp_quaternion_wxyz":[2.2433156953173237e-05,0.7071202143990475,0.7070933473485074,4.525582462764839e-06],"object_position_m":[0.076523078487608,0.47772430544730937,0.39601974213795843],"object_quaternion_wxyz":[0.9999999684992508,0.0002041820574619571,-6.389559000463103e-05,-0.00013125752828872382],"object_linear_velocity_m_s":[0.003354237531427235,-0.0006879484613399353,-0.08272632561665266],"object_angular_velocity_rad_s":[-0.008910049805078944,0.0040696770911796765,0.001453254591455655],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325263840362604,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10849968239987,"right":46.108378965175994},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0122830415675823,-1.6367138498174603,1.4781252568618588,-1.4363703842226314,-1.5708215441574884,-0.4414870931287777,180.0],"actuator_force":[-0.028643001929140155,-19.06980940548192,-22.13618943187703,-2.3288831926201965,0.002554291883143378,0.008046698115919071,5.0],"issued_joint_targets_rad":[-2.0124490485032864,-1.6279634487516483,1.493330102353886,-1.435917560239186,-1.570822521136437,-0.44164869084871317],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.560000000000859,"joint_targets_rad":[-2.0124490485032864,-1.6279634487516483,1.493330102353886,-1.435917560239186,-1.570822521136437,-0.44164869084871317],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.580000000000866,"qpos":[-2.010900557797042,-1.6215388045366854,1.4452261637170485,-1.394436113558958,-1.5708398296936072,-0.44007043076071045,0.4611776498771291,0.0002994385491204498,0.45827957114944584,-0.4508886530079884,0.46117670529482185,0.00029045475579493753,0.45820768015019936,-0.4510435917763602,0.07660418950484739,0.47772340667957974,0.3943106446229178,0.9999999739533875,0.00018548333785733232,-5.0347857414240875e-05,-0.00012310259720253914],"qvel":[-0.007651069987132713,-0.030810678380556924,0.24428212828872756,-0.2082140470909059,6.632159069104694e-05,-0.007971530200443902,-0.0001151940127581926,6.464182507858345e-05,-7.323023029673013e-05,-0.00012346617433809463,-0.00014003702376785232,3.971363868799604e-05,-0.0003542110717594482,-0.00017807919618195045,0.0033571949918875413,-0.0006901025390950302,-0.08273603504656493,-0.008736375625171924,0.003966139204131526,0.0013941793339985453],"joint_position_rad":[-2.010900557797042,-1.6215388045366854,1.4452261637170485,-1.394436113558958,-1.5708398296936072,-0.44007043076071045],"joint_velocity_rad_s":[-0.007651069987132713,-0.030810678380556924,0.24428212828872756,-0.2082140470909059,6.632159069104694e-05,-0.007971530200443902],"linkage_position_rad":[0.4611776498771291,0.0002994385491204498,0.45827957114944584,-0.4508886530079884,0.46117670529482185,0.00029045475579493753,0.45820768015019936,-0.4510435917763602],"tcp_position_m":[0.07660995403341575,0.47718859393395296,0.40040524303627034],"tcp_quaternion_wxyz":[2.851884151963573e-05,0.7071187305423733,0.7070948308941544,-1.5019484841583919e-05],"object_position_m":[0.07660418950484739,0.47772340667957974,0.3943106446229178],"object_quaternion_wxyz":[0.9999999739533875,0.00018548333785733232,-5.0347857414240875e-05,-0.00012310259720253914],"object_linear_velocity_m_s":[0.0033571949918875413,-0.0006901025390950302,-0.08273603504656493],"object_angular_velocity_rad_s":[-0.008735539357671337,0.003967772738419604,0.0013947712689990244],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325258905036436,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108471524036894,"right":46.108368203853935},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.012444626975602,-1.6372314416038118,1.4830077839449494,-1.440736281330696,-1.5708214446464512,-0.44164869315931904,180.0],"actuator_force":[-0.027710362267498567,-19.0610027820303,-22.149610859689346,-2.3286791767784507,0.0025603645088949634,0.008021820740083285,5.0],"issued_joint_targets_rad":[-2.0126106556128716,-1.628470258984775,1.4982006002477202,-1.4402820717459395,-1.570822420627667,-0.4418103105255526],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.580000000000866,"joint_targets_rad":[-2.0126106556128716,-1.628470258984775,1.4982006002477202,-1.4402820717459395,-1.570822420627667,-0.4418103105255526],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.600000000000873,"qpos":[-2.011062772026988,-1.622193943383421,1.4502644414370227,-1.398782137182921,-1.5708382125691127,-0.44023645073848433,0.461177651336357,0.0002992738143916782,0.4582794270363871,-0.4508875485980707,0.461176735787036,0.0002906089019901602,0.458207864569372,-0.45104465818063666,0.0766853406403668,0.47772254782667906,0.3926014397459741,0.9999999784392091,0.00016842416860517615,-3.7811448801980396e-05,-0.00011543472346462071],"qvel":[-0.0076504370932428825,-0.030055869722717118,0.2434406054673855,-0.20830791257590378,5.871499543318108e-05,-0.007949304902532085,-0.0001136061274032245,6.452412936937885e-05,-7.120490417676528e-05,-0.0001254242726454993,-0.00013841085786186645,3.922540411948775e-05,-0.0003519647827346352,-0.0001765117451211794,0.0033601736042591273,-0.0006922183388638651,-0.08274584064806002,-0.008578393253451872,0.003873534691085199,0.001338912777848756],"joint_position_rad":[-2.011062772026988,-1.622193943383421,1.4502644414370227,-1.398782137182921,-1.5708382125691127,-0.44023645073848433],"joint_velocity_rad_s":[-0.0076504370932428825,-0.030055869722717118,0.2434406054673855,-0.20830791257590378,5.871499543318108e-05,-0.007949304902532085],"linkage_position_rad":[0.461177651336357,0.0002992738143916782,0.4582794270363871,-0.4508875485980707,0.461176735787036,0.0002906089019901602,0.458207864569372,-0.45104465818063666],"tcp_position_m":[0.0766912892362252,0.47718547191586985,0.39869511001647684],"tcp_quaternion_wxyz":[3.4034187388854935e-05,0.707117384345883,0.7070961762902067,-3.276093377380816e-05],"object_position_m":[0.0766853406403668,0.47772254782667906,0.3926014397459741],"object_quaternion_wxyz":[0.9999999784392091,0.00016842416860517615,-3.7811448801980396e-05,-0.00011543472346462071],"object_linear_velocity_m_s":[0.0033601736042591273,-0.0006922183388638651,-0.08274584064806002],"object_angular_velocity_rad_s":[-0.008577600073373154,0.00387506396737412,0.0013395691361864897],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632525390553009,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1084436536681,"right":46.10835691346392},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0126062335995796,-1.6377314278511057,1.4878712409586194,-1.4451007170555503,-1.5708213387572756,-0.44181031288062766,180.0],"actuator_force":[-0.02674830788600957,-19.052621046283093,-22.16264314376076,-2.3284986787243724,0.0025654063753108858,0.007999419181544454,5.0],"issued_joint_targets_rad":[-2.0127722854995582,-1.6289593232109931,1.5030519881694568,-1.444645228123958,-1.570822314048018,-0.4419719516662484],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.600000000000873,"joint_targets_rad":[-2.0127722854995582,-1.6289593232109931,1.5030519881694568,-1.444645228123958,-1.570822314048018,-0.4419719516662484],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.620000000000879,"qpos":[-2.0112249203240813,-1.6228332730611865,1.4552851595213503,-1.40312982517849,-1.5708367399599905,-0.44040205089367296,0.461177653375359,0.0002991142907040749,0.4582792883773934,-0.45088648105160384,0.46117676589920265,0.00029075744554195624,0.45820804346898153,-0.45104568617805635,0.07676653263148352,0.4777217298176001,0.39089212462404105,0.9999999821196596,0.00015284696592108616,-2.619859498973668e-05,-0.0001082225476170338],"qvel":[-0.0076503143780420075,-0.029291117383012773,0.24259124183261122,-0.20838653001055454,5.1868132491753875e-05,-0.007929308482898129,-0.00011203435572975755,6.44047786681536e-05,-6.920175026686107e-05,-0.0001273413532686022,-0.00013680057867786527,3.874780137359219e-05,-0.0003497370647689112,-0.00017500293640061468,0.00336317662197729,-0.0006942899722281381,-0.08275572263569501,-0.008435382016123885,0.003789265869522898,0.0012867017757801208],"joint_position_rad":[-2.0112249203240813,-1.6228332730611865,1.4552851595213503,-1.40312982517849,-1.5708367399599905,-0.44040205089367296],"joint_velocity_rad_s":[-0.0076503143780420075,-0.029291117383012773,0.24259124183261122,-0.20838653001055454,5.1868132491753875e-05,-0.007929308482898129],"linkage_position_rad":[0.461177653375359,0.0002991142907040749,0.4582792883773934,-0.45088648105160384,0.46117676589920265,0.00029075744554195624,0.45820804346898153,-0.45104568617805635],"tcp_position_m":[0.07677265220481606,0.477182377957836,0.3969848742174559],"tcp_quaternion_wxyz":[3.903430723081021e-05,0.7071161631340871,0.7070973963481172,-4.8872927052999114e-05],"object_position_m":[0.07676653263148352,0.4777217298176001,0.39089212462404105],"object_quaternion_wxyz":[0.9999999821196596,0.00015284696592108616,-2.619859498973668e-05,-0.0001082225476170338],"object_linear_velocity_m_s":[0.00336317662197729,-0.0006942899722281381,-0.08275572263569501],"object_angular_velocity_rad_s":[-0.008434629131426024,0.0037906981386775437,0.0012874183797038524],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325248857754554,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108416059195314,"right":46.1083451540115},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0127678630391563,-1.6382138269094912,1.492715763387733,-1.4494638089298395,-1.5708212272915072,-0.44197195406165224,180.0],"actuator_force":[-0.025759678933354735,-19.04466074340462,-22.175289000279008,-2.3283388746192486,0.0025695209924379014,0.007979264300161049,5.0],"issued_joint_targets_rad":[-2.0129339397289483,-1.6294306533727287,1.5078843968857478,-1.4490071460925875,-1.5708222021583491,-0.44213361596959205],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.620000000000879,"joint_targets_rad":[-2.0129339397289483,-1.6294306533727287,1.5078843968857478,-1.4490071460925875,-1.5708222021583491,-0.44213361596959205],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.640000000000886,"qpos":[-2.0113870124341586,-1.6234566059857258,1.4602881804348538,-1.4074788977946062,-1.5708353975134346,-0.44056727367975257,0.46117765593567805,0.000298959874080844,0.4582791549970386,-0.45088544948736686,0.4611767955950002,0.0002909005467115698,0.458208216948735,-0.451046676858555,0.07684776627088924,0.4777209537049659,0.3891826967552399,0.999999985129967,0.00013860933328748687,-1.5429613366394927e-05,-0.00010143690508940705],"qvel":[-0.007650654482075556,-0.028517445822531788,0.24173538596118585,-0.20845190142933018,4.570474806553221e-05,-0.007911335095164621,-0.0001104782718758628,6.428344485329639e-05,-6.722042497048304e-05,-0.0001292162388360097,-0.00013520570344535576,3.828077046855086e-05,-0.0003475271954200166,-0.00017355252275311537,0.00336620745475588,-0.0006963114276932348,-0.08276566328745848,-0.008305893533189957,0.003712561642496553,0.001237333492106611],"joint_position_rad":[-2.0113870124341586,-1.6234566059857258,1.4602881804348538,-1.4074788977946062,-1.5708353975134346,-0.44056727367975257],"joint_velocity_rad_s":[-0.007650654482075556,-0.028517445822531788,0.24173538596118585,-0.20845190142933018,4.570474806553221e-05,-0.007911335095164621],"linkage_position_rad":[0.46117765593567805,0.000298959874080844,0.4582791549970386,-0.45088544948736686,0.4611767955950002,0.0002909005467115698,0.458208216948735,-0.451046676858555],"tcp_position_m":[0.07685404481029429,0.4771793139779472,0.395274534315955],"tcp_quaternion_wxyz":[4.356899929126283e-05,0.7071150553892893,0.70709850269228,-6.351282966919227e-05],"object_position_m":[0.07684776627088924,0.4777209537049659,0.3891826967552399],"object_quaternion_wxyz":[0.999999985129967,0.00013860933328748687,-1.5429613366394927e-05,-0.00010143690508940705],"object_linear_velocity_m_s":[0.00336620745475588,-0.0006963114276932348,-0.08276566328745848],"object_angular_velocity_rad_s":[-0.008305178410622626,0.003713903499148508,0.0012381065670823788],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325243775926034,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10838872984192,"right":46.10833298024376},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0129295168432506,-1.6386786545593952,1.4975414821783513,-1.4538256725235843,-1.5708211109609977,-0.442133618401593,180.0],"actuator_force":[-0.024747025353917707,-19.03711881832578,-22.187550897479014,-2.3281972215560245,0.002572801411929504,0.007961148596280054,5.0],"issued_joint_targets_rad":[-2.013095619823813,-1.6298842592973821,1.5126979528501394,-1.4533679404065032,-1.570822085635223,-0.4422953050768593],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.640000000000886,"joint_targets_rad":[-2.013095619823813,-1.6298842592973821,1.5126979528501394,-1.4533679404065032,-1.570822085635223,-0.4422953050768593],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.660000000000893,"qpos":[-2.011549057199642,-1.624063773815624,1.465273391904688,-1.4118291131037242,-1.570834172316272,-0.4407321576385078,0.4611776589642076,0.0002988104559649677,0.45827902672336224,-0.45088445300955887,0.46117682484401185,0.0002910383654375072,0.45820838511511686,-0.45104763130983483,0.07692904241068703,0.47772022066790776,0.3874731539794162,0.999999987582438,0.00012558259596706325,-5.432141999804194e-06,-9.505065980563152e-05],"qvel":[-0.007651415013727947,-0.027735769911648975,0.24087423779432002,-0.20850582795378572,4.0156277342051044e-05,-0.007895198359861055,-0.0001089374777923776,6.415985446344337e-05,-6.526057918984902e-05,-0.00013104804286988636,-0.00013362578654518105,3.782422278594275e-05,-0.0003453345304577095,-0.00017216006747214712,0.003369269676026375,-0.0006982765469550838,-0.08277564673582986,-0.008188619219726459,0.00364272396672716,0.0011906111204546277],"joint_position_rad":[-2.011549057199642,-1.624063773815624,1.465273391904688,-1.4118291131037242,-1.570834172316272,-0.4407321576385078],"joint_velocity_rad_s":[-0.007651415013727947,-0.027735769911648975,0.24087423779432002,-0.20850582795378572,4.0156277342051044e-05,-0.007895198359861055],"linkage_position_rad":[0.4611776589642076,0.0002988104559649677,0.45827902672336224,-0.45088445300955887,0.46117682484401185,0.0002910383654375072,0.45820838511511686,-0.45104763130983483],"tcp_position_m":[0.07693546888642817,0.47717628193061395,0.39356408918547514],"tcp_quaternion_wxyz":[4.768325993226143e-05,0.7071140506468817,0.7070995058705088,-7.682282989882923e-05],"object_position_m":[0.07692904241068703,0.47772022066790776,0.3874731539794162],"object_quaternion_wxyz":[0.999999987582438,0.00012558259596706325,-5.432141999804194e-06,-9.505065980563152e-05],"object_linear_velocity_m_s":[0.003369269676026375,-0.0006982765469550838,-0.08277564673582986],"object_angular_velocity_rad_s":[-0.008187939553187636,0.0036439814256421545,0.0011914372440513853],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325238672738696,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10836165592573,"right":46.10832044204882},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0130911965199667,-1.6391259240880376,1.5023485239258394,-1.458186421554423,-1.570820990398222,-0.4422953075420944,180.0],"actuator_force":[-0.023712635158062767,-19.0299925801678,-22.199431075425764,-2.3280714299706915,0.002575331290813665,0.00794488419282402,5.0],"issued_joint_targets_rad":[-2.0132573272738137,-1.6303201487244707,1.5174927783650205,-1.4577277239665773,-1.5708219650804376,-0.44245702058328207],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.660000000000893,"joint_targets_rad":[-2.0132573272738137,-1.6303201487244707,1.5174927783650205,-1.4577277239665773,-1.5708219650804376,-0.44245702058328207],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.680000000000899,"qpos":[-2.011711062654171,-1.6246546253769456,1.4702407041107857,-1.4161802631989269,-1.5708330527498864,-0.44089673777050997,0.4611776624126405,0.0002986659241862396,0.45827890338798116,-0.45088349071283834,0.4611768536210187,0.00029117106076630454,0.45820854808004563,-0.45104855061354554,0.07701036196652929,0.47771953201545897,0.3857634944426758,0.999999989570405,0.000113650476938806,3.859552889845345e-06,-8.903855119991248e-05],"qvel":[-0.007652558059901834,-0.026946905718730034,0.24000886356767973,-0.2085499295558526,3.5161064389440554e-05,-0.007880729551128986,-0.00010741160067798295,6.403378230167098e-05,-6.332185973702712e-05,-0.00013283613466532636,-0.00013206041589861007,3.737804524248615e-05,-0.00034315849518889454,-0.00017082497053171844,0.0033723670321900356,-0.0007001789995668763,-0.08278565877955578,-0.00808237678707245,0.003579120853823779,0.0011463525910206719],"joint_position_rad":[-2.011711062654171,-1.6246546253769456,1.4702407041107857,-1.4161802631989269,-1.5708330527498864,-0.44089673777050997],"joint_velocity_rad_s":[-0.007652558059901834,-0.026946905718730034,0.24000886356767973,-0.2085499295558526,3.5161064389440554e-05,-0.007880729551128986],"linkage_position_rad":[0.4611776624126405,0.0002986659241862396,0.45827890338798116,-0.45088349071283834,0.4611768536210187,0.00029117106076630454,0.45820854808004563,-0.45104855061354554],"tcp_position_m":[0.07701692624283679,0.47717328381854857,0.39185353787607635],"tcp_quaternion_wxyz":[5.141774674916399e-05,0.7071131393999334,0.7071004154541211,-8.893140387523762e-05],"object_position_m":[0.07701036196652929,0.47771953201545897,0.3857634944426758],"object_quaternion_wxyz":[0.999999989570405,0.000113650476938806,3.859552889845345e-06,-8.903855119991248e-05],"object_linear_velocity_m_s":[0.0033723670321900356,-0.0007001789995668763,-0.08278565877955578],"object_angular_velocity_rad_s":[-0.008081730470459363,0.003580299415925923,0.0011472286487849497],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463252335595197,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10833482873161,"right":46.10830758489597},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.013252903546102,-1.6395556463558918,1.5071370110423483,-1.4625461679876013,-1.570820866165315,-0.44245702307872103,180.0],"actuator_force":[-0.022658559901174158,-19.02327967040037,-22.21093156394636,-2.3279594387519182,0.0025771858466896447,0.007930301007377238,5.0],"issued_joint_targets_rad":[-2.0134190635448417,-1.6307383273270655,1.52226899172525,-1.4620866079205794,-1.570821841029399,-0.4426187640489189],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.680000000000899,"joint_targets_rad":[-2.0134190635448417,-1.6307383273270655,1.52226899172525,-1.4620866079205794,-1.570821841029399,-0.4426187640489189],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.700000000000906,"qpos":[-2.011873036107946,-1.625229024791936,1.4751900471583754,-1.4205321707651601,-1.570832028359841,-0.44106104587113026,0.4611776662369836,0.0002985261638173124,0.4582787848261839,-0.4508825616867729,0.46117688190537603,0.0002912987903628402,0.45820870595969754,-0.45104943584200663,0.07709172592190033,0.4777188891905036,0.38405371656554016,0.9999999911714875,0.00010270790061022021,1.2505203165508446e-05,-8.337705350188536e-05],"qvel":[-0.007654049747677543,-0.02615158022246975,0.23914020923227278,-0.20858566288066868,3.066366207790139e-05,-0.007867775954477643,-0.00010590028983969028,6.390504598612262e-05,-6.140390978875728e-05,-0.00013458010928748217,-0.0001305092086942984,3.69421038591155e-05,-0.00034099857563851295,-0.0001695464939033867,0.0033755034536569507,-0.000702012255788274,-0.08279568671419048,-0.007986098047369494,0.0035211800447176858,0.001104389386834797],"joint_position_rad":[-2.011873036107946,-1.625229024791936,1.4751900471583754,-1.4205321707651601,-1.570832028359841,-0.44106104587113026],"joint_velocity_rad_s":[-0.007654049747677543,-0.02615158022246975,0.23914020923227278,-0.20858566288066868,3.066366207790139e-05,-0.007867775954477643],"linkage_position_rad":[0.4611776662369836,0.0002985261638173124,0.4582787848261839,-0.4508825616867729,0.46117688190537603,0.0002912987903628402,0.45820870595969754,-0.45104943584200663],"tcp_position_m":[0.07709841867745879,0.47717032170448564,0.3901428795962091],"tcp_quaternion_wxyz":[5.480919702588624e-05,0.7071123130122704,0.7071012401286384,-9.99546388150439e-05],"object_position_m":[0.07709172592190033,0.4777188891905036,0.38405371656554016],"object_quaternion_wxyz":[0.9999999911714875,0.00010270790061022021,1.2505203165508446e-05,-8.337705350188536e-05],"object_linear_velocity_m_s":[0.0033755034536569507,-0.000702012255788274,-0.08279568671419048],"object_angular_velocity_rad_s":[-0.007985483151251234,0.003522284754262267,0.0011053125341932365],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632522844636858,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108308240333216,"right":46.108294450174455},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0134146393763,-1.63996782985363,1.5119070619053765,-1.4669050221268418,-1.5708207387619986,-0.4426187665718317,180.0],"actuator_force":[-0.02158663763657387,-19.016978034399926,-22.222054198907244,-2.3278593927740303,0.0025784327133351326,0.007917245097047498,5.0],"issued_joint_targets_rad":[-2.013580830088046,-1.6311387987275798,1.527026707344854,-1.4664447017547881,-1.5708217139584932,-0.44278053700899905],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.700000000000906,"joint_targets_rad":[-2.013580830088046,-1.6311387987275798,1.527026707344854,-1.4664447017547881,-1.5708217139584932,-0.44278053700899905],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.720000000000913,"qpos":[-2.0120349842247394,-1.6257868497914014,1.4801213688040322,-1.42488468598785,-1.5708310897386966,-0.4412251108353386,0.4611776703971203,0.0002983910579291996,0.4582786708770016,-0.45088166501972254,0.46117690968045805,0.00029142171009320016,0.45820885887347573,-0.4510502880553927,0.07717313533258173,0.47771829377432307,0.3823438190143577,0.9999999924502798,9.265991196538005e-05,2.0559105086269277e-05,-7.804424627007152e-05],"qvel":[-0.00765585985186991,-0.025350440052796165,0.23826911251655286,-0.20861433731987392,2.661420362106904e-05,-0.007856199379530781,-0.00010440321471150928,6.377350084135542e-05,-5.9506370362378545e-05,-0.00013627976017392733,-0.0001289718086149524,3.651624719894467e-05,-0.0003388543111925902,-0.00016832378121889118,0.003378683067439473,-0.0007037695573984795,-0.08280571917946414,-0.007898817895617652,0.0034683832932794613,0.001064565458661497],"joint_position_rad":[-2.0120349842247394,-1.6257868497914014,1.4801213688040322,-1.42488468598785,-1.5708310897386966,-0.4412251108353386],"joint_velocity_rad_s":[-0.00765585985186991,-0.025350440052796165,0.23826911251655286,-0.20861433731987392,2.661420362106904e-05,-0.007856199379530781],"linkage_position_rad":[0.4611776703971203,0.0002983910579291996,0.4582786708770016,-0.45088166501972254,0.46117690968045805,0.00029142171009320016,0.45820885887347573,-0.4510502880553927],"tcp_position_m":[0.07717994798842819,0.4771673977227496,0.388432113696382],"tcp_quaternion_wxyz":[5.789080583587177e-05,0.7071115636393221,0.7071019877760012,-0.00010999742853949886],"object_position_m":[0.07717313533258173,0.47771829377432307,0.3823438190143577],"object_quaternion_wxyz":[0.9999999924502798,9.265991196538005e-05,2.0559105086269277e-05,-7.804424627007152e-05],"object_linear_velocity_m_s":[0.003378683067439473,-0.0007037695573984795,-0.08280571917946414],"object_angular_velocity_rad_s":[-0.00789823264715921,0.0034694187874463682,0.0010655330880209978],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632522334228208,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10828188349348,"right":46.10828107555775},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.013576405451909,-1.6403624807499897,1.5166587909888656,-1.4712630926970705,-1.5708206086325538,-0.4427805395569265,180.0],"actuator_force":[-0.020498513591064693,-19.011085896058376,-22.23280063695438,-2.3277696226228954,0.0025791327093429572,0.007905577159135646,5.0],"issued_joint_targets_rad":[-2.013742628348609,-1.6315215645079293,1.531766035867987,-1.470802113377467,-1.570821584291581,-0.44294234098384655],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.720000000000913,"joint_targets_rad":[-2.013742628348609,-1.6315215645079293,1.531766035867987,-1.470802113377467,-1.570821584291581,-0.44294234098384655],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.7400000000009195,"qpos":[-2.0121969130914654,-1.626327990192334,1.485034632409542,-1.4292376837657936,-1.5708302284206772,-0.44138895893423985,0.46117767485642386,0.00029826048826005853,0.4582785613832663,-0.45088079980224166,0.46117693693316364,0.0002915399736676841,0.45820900694310557,-0.4510511082993367,0.07725459133135426,0.4777177474917879,0.3806338006756506,0.9999999934605756,8.342070000703252e-05,2.8070631459446842e-05,-7.301969523202267e-05],"qvel":[-0.00765796144377165,-0.024544059354952522,0.2373963137649412,-0.2086371295073799,2.2967838325816595e-05,-0.007845874813408498,-0.00010292006232064701,6.363903542169759e-05,-5.7628880375439316e-05,-0.00013793505377627144,-0.00012744788242405366,3.610030886067141e-05,-0.0003367252882249809,-0.00016715587849914316,0.0033819102121370693,-0.0007054438862419913,-0.08281574602182654,-0.00781966435549148,0.0034202611986772517,0.001026736230621885],"joint_position_rad":[-2.0121969130914654,-1.626327990192334,1.485034632409542,-1.4292376837657936,-1.5708302284206772,-0.44138895893423985],"joint_velocity_rad_s":[-0.00765796144377165,-0.024544059354952522,0.2373963137649412,-0.2086371295073799,2.2967838325816595e-05,-0.007845874813408498],"linkage_position_rad":[0.46117767485642386,0.00029826048826005853,0.4582785613832663,-0.45088079980224166,0.46117693693316364,0.0002915399736676841,0.45820900694310557,-0.4510511082993367],"tcp_position_m":[0.07726151598548318,0.47716451409078725,0.3867212396544778],"tcp_quaternion_wxyz":[6.0692567680289116e-05,0.7071108841560582,0.7071026655490994,-0.00011915455362779596],"object_position_m":[0.07725459133135426,0.4777177474917879,0.3806338006756506],"object_quaternion_wxyz":[0.9999999934605756,8.342070000703252e-05,2.8070631459446842e-05,-7.301969523202267e-05],"object_linear_velocity_m_s":[0.0033819102121370693,-0.0007054438862419913,-0.08281574602182654],"object_angular_velocity_rad_s":[-0.007819107121145813,0.0034212317506695563,0.0010277459429500154],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632521825526677,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10825575154227,"right":46.108267495303295},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.013738203209604,-1.6407396029309238,1.5213923089780828,-1.4756204869198641,-1.5708204761719549,-0.4429423435545739,180.0],"actuator_force":[-0.019395658768189605,-19.005601735198525,-22.243172368894648,-2.327688626297231,0.0025793405286549387,0.00789517117382843,5.0],"issued_joint_targets_rad":[-2.0139044597743405,-1.6318866242139929,1.536487084265161,-1.4751589491950796,-1.570821452405736,-0.4431041774884768],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.7400000000009195,"joint_targets_rad":[-2.0139044597743405,-1.6318866242139929,1.536487084265161,-1.4751589491950796,-1.570821452405736,-0.4431041774884768],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.760000000000926,"qpos":[-2.012358828281074,-1.6268523465241733,1.4899298151004292,-1.4335910611984641,-1.5708294367869757,-0.44155261406602514,0.4611776795814132,0.00029813433580130324,0.45827845619165347,-0.4508799651300386,0.4611769636534827,0.0002916537323421422,0.4582091502918511,-0.45105189760291503,0.0773360951329793,0.4777172522172465,0.37892366063310345,0.9999999942471995,7.491271542165444e-05,3.5084694849943e-05,-6.828434256797887e-05],"qvel":[-0.007660330577106823,-0.023732946861699116,0.2365224656740536,-0.20865509639283433,1.9684224854766988e-05,-0.00783668920167857,-0.00010145053606079243,6.350156756635404e-05,-5.5771077975364486e-05,-0.00013954610707447038,-0.00012593711803444955,3.5694110433066054e-05,-0.0003346111340981067,-0.00016604174863614214,0.0033851894546949274,-0.0007070279301579403,-0.08282575817060848,-0.007747849586233824,0.003376388535625456,0.0009907676884527792],"joint_position_rad":[-2.012358828281074,-1.6268523465241733,1.4899298151004292,-1.4335910611984641,-1.5708294367869757,-0.44155261406602514],"joint_velocity_rad_s":[-0.007660330577106823,-0.023732946861699116,0.2365224656740536,-0.20865509639283433,1.9684224854766988e-05,-0.00783668920167857],"linkage_position_rad":[0.4611776795814132,0.00029813433580130324,0.45827845619165347,-0.4508799651300386,0.4611769636534827,0.0002916537323421422,0.4582091502918511,-0.45105189760291503],"tcp_position_m":[0.07734312450101563,0.4771616731207822,0.385010257062571],"tcp_quaternion_wxyz":[6.324158518134132e-05,0.7071102680913943,0.7071032799393557,-0.00012751165732973637],"object_position_m":[0.0773360951329793,0.4777172522172465,0.37892366063310345],"object_quaternion_wxyz":[0.9999999942471995,7.491271542165444e-05,3.5084694849943e-05,-6.828434256797887e-05],"object_linear_velocity_m_s":[0.0033851894546949274,-0.0007070279301579403,-0.08282575817060848],"object_angular_velocity_rad_s":[-0.007747318856791254,0.003377298092198109,0.0009918172687196876],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632521319243893,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10822983830991,"right":46.108253740569175},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0139000340898456,-1.641099198030269,1.5261077228693352,-1.4799773105824146,-1.5708203417312852,-0.44310418008001007,180.0],"actuator_force":[-0.01827938670066942,-19.00052426751199,-22.253170731809405,-2.3276150526917263,0.0025791053598140934,0.007885913175385895,5.0],"issued_joint_targets_rad":[-2.0140663258241625,-1.63223397535426,1.5411899559155593,-1.4795153141819954,-1.5708213186363167,-0.4432660480419561],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.760000000000926,"joint_targets_rad":[-2.0140663258241625,-1.63223397535426,1.5411899559155593,-1.4795153141819954,-1.5708213186363167,-0.4432660480419561],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.780000000000933,"qpos":[-2.012520734909482,-1.627359828788668,1.4948069061082783,-1.4379447353208057,-1.5708287079806171,-0.44171609798376643,0.4611776845414417,0.0002980124813122739,0.45827835515270343,-0.45087916010652795,0.46117698983410477,0.0002917631346665047,0.45820928904382546,-0.4510526569769577,0.07741764803951225,0.47771680998117416,0.3772133981469345,0.9999999948475274,6.706587337716955e-05,4.1642166544992965e-05,-6.382040585086269e-05],"qvel":[-0.007662946007510296,-0.022917552250137266,0.23564814203563636,-0.20866918703249845,1.6727076070445923e-05,-0.007828540345070191,-9.999435297708156e-05,6.336104048497435e-05,-5.393260057802624e-05,-0.00014111316934429876,-0.0001244392210836476,3.52974634025614e-05,-0.00033251151143830394,-0.00016498028910135127,0.0033885256096671196,-0.0007085140459900963,-0.08283574752648838,-0.007682661757729348,0.0033363800331647625,0.000956535543452002],"joint_position_rad":[-2.012520734909482,-1.627359828788668,1.4948069061082783,-1.4379447353208057,-1.5708287079806171,-0.44171609798376643],"joint_velocity_rad_s":[-0.007662946007510296,-0.022917552250137266,0.23564814203563636,-0.20866918703249845,1.6727076070445923e-05,-0.007828540345070191],"linkage_position_rad":[0.4611776845414417,0.0002980124813122739,0.45827835515270343,-0.45087916010652795,0.46117698983410477,0.0002917631346665047,0.45820928904382546,-0.4510526569769577],"tcp_position_m":[0.07742477540087787,0.47715887723147027,0.38329916561508526],"tcp_quaternion_wxyz":[6.556234800720776e-05,0.7071097095685043,0.707103836838019,-0.0001351461273073459],"object_position_m":[0.07741764803951225,0.47771680998117416,0.3772133981469345],"object_quaternion_wxyz":[0.9999999948475274,6.706587337716955e-05,4.1642166544992965e-05,-6.382040585086269e-05],"object_linear_velocity_m_s":[0.0033885256096671196,-0.0007085140459900963,-0.08283574752648838],"object_angular_velocity_rad_s":[-0.007682156135376175,0.0033372322473724826,0.0009576229393994184],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632520816011623,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108204138029855,"right":46.10823983966345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.014061899545243,-1.641441265452101,1.5308051360553891,-1.48433366810068,-1.5708202056225176,-0.44326605065250024,180.0],"actuator_force":[-0.017150868518001516,-18.99585242681087,-22.262796920032997,-2.3275476866872395,0.0025784714426890787,0.007877700140085153,5.0],"issued_joint_targets_rad":[-2.0142282279765578,-1.6325636133924561,1.5458747506760826,-1.4838713119443774,-1.5708211832814565,-0.44342795417661734],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.780000000000933,"joint_targets_rad":[-2.0142282279765578,-1.6325636133924561,1.5458747506760826,-1.4838713119443774,-1.5708211832814565,-0.44342795417661734],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8000000000009395,"qpos":[-2.012682637687189,-1.6278503553397703,1.4996659052780335,-1.4422986410612382,-1.5708280358299065,-0.44187943050226114,0.46117768970842055,0.00029789480577085774,0.45827825812083545,-0.45087838384503726,0.46117701547007495,0.00029186832627892974,0.4582094233233967,-0.4510533874126404,0.07749925144600396,0.47771642297764877,0.37550301263541036,0.9999999952927443,5.9816833222162976e-05,4.77802555326001e-05,-5.961128493023862e-05],"qvel":[-0.0076657889423119895,-0.022098271851759874,0.23477384558390682,-0.20868025322368808,1.4063750128307959e-05,-0.007821335901279473,-9.855124342117037e-05,6.321741968163283e-05,-5.211308580223852e-05,-0.00014263660132787212,-0.00012295391407578845,3.49101712977527e-05,-0.00033042611411158773,-0.0001639703420106324,0.0033919237609453447,-0.0007098942192078026,-0.08284570686096417,-0.0076234577099757094,0.003299886559052261,0.0009239244653320555],"joint_position_rad":[-2.012682637687189,-1.6278503553397703,1.4996659052780335,-1.4422986410612382,-1.5708280358299065,-0.44187943050226114],"joint_velocity_rad_s":[-0.0076657889423119895,-0.022098271851759874,0.23477384558390682,-0.20868025322368808,1.4063750128307959e-05,-0.007821335901279473],"linkage_position_rad":[0.46117768970842055,0.00029789480577085774,0.45827825812083545,-0.45087838384503726,0.46117701547007495,0.00029186832627892974,0.4582094233233967,-0.4510533874126404],"tcp_position_m":[0.07750647059505707,0.47715612896027304,0.3815879650981773],"tcp_quaternion_wxyz":[6.767698490008509e-05,0.7071092032505122,0.707104341591758,-0.0001421278922953242],"object_position_m":[0.07749925144600396,0.47771642297764877,0.37550301263541036],"object_quaternion_wxyz":[0.9999999952927443,5.9816833222162976e-05,4.77802555326001e-05,-5.961128493023862e-05],"object_linear_velocity_m_s":[0.0033919237609453447,-0.0007098942192078026,-0.08284570686096417],"object_angular_velocity_rad_s":[-0.007622975897066496,0.0033006848188901587,0.000925047769108334],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632520316389832,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10817864524811,"right":46.10822581826609},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.014223801048894,-1.6417658023848174,1.535484648397273,-1.488689662577354,-1.570820068122744,-0.4434279568045572,180.0],"actuator_force":[-0.016011146485652716,-18.991585349390334,-22.27205199508353,-2.327485435689141,0.002577478568355218,0.007870438979921346,5.0],"issued_joint_targets_rad":[-2.0143901677380702,-1.6328755317338703,1.5505415649375893,-1.4882270447788537,-1.5708210466060466,-0.4435898974472306],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.8000000000009395,"joint_targets_rad":[-2.0143901677380702,-1.6328755317338703,1.5505415649375893,-1.4882270447788537,-1.5708210466060466,-0.4435898974472306],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.820000000000946,"qpos":[-2.0128445409661433,-1.628323851871276,1.5045068217233148,-1.4466527294009768,-1.5708274147795889,-0.44204262968592883,0.46117769505657313,0.00029778119076454717,0.45827816495434714,-0.4508776354706902,0.4611770405584884,0.0002919694497369701,0.458209553254673,-0.4510540898803519,0.07758090684664895,0.47771609357273503,0.3737925036582994,0.9999999956088816,5.3108347671266295e-05,5.3532851329604646e-05,-5.5641476092597554e-05],"qvel":[-0.007668842817796292,-0.021275453777342353,0.23390001503485594,-0.2086890590963322,1.1664883051087374e-05,-0.007814992482248786,-9.712094864597435e-05,6.307068986198698e-05,-5.031217159384249e-05,-0.00014411686148704274,-0.00012148093336151935,3.4532031290069345e-05,-0.0003283546623982782,-0.000163010708027625,0.0033953892863410194,-0.0007111600196765016,-0.08285562972572992,-0.007569656321128961,0.0032665916711137363,0.0008928273784503946],"joint_position_rad":[-2.0128445409661433,-1.628323851871276,1.5045068217233148,-1.4466527294009768,-1.5708274147795889,-0.44204262968592883],"joint_velocity_rad_s":[-0.007668842817796292,-0.021275453777342353,0.23390001503485594,-0.2086890590963322,1.1664883051087374e-05,-0.007814992482248786],"linkage_position_rad":[0.46117769505657313,0.00029778119076454717,0.45827816495434714,-0.4508776354706902,0.4611770405584884,0.0002919694497369701,0.458209553254673,-0.4510540898803519],"tcp_position_m":[0.07758821204832195,0.4771534309758766,0.37987665538021953],"tcp_quaternion_wxyz":[6.960549140116615e-05,0.7071087442910925,0.707104799053094,-0.00014852014189426443],"object_position_m":[0.07758090684664895,0.47771609357273503,0.3737925036582994],"object_quaternion_wxyz":[0.9999999956088816,5.3108347671266295e-05,5.3532851329604646e-05,-5.5641476092597554e-05],"object_linear_velocity_m_s":[0.0033953892863410194,-0.0007111600196765016,-0.08285562972572992],"object_angular_velocity_rad_s":[-0.007569197110421506,0.003267339124625334,0.0008939848107138888],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325198208739864,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108153354782964,"right":46.108211699677135},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0143857401027865,-1.6420728038069037,1.5401463562829683,-1.4930453958551904,-1.570819929477923,-0.4435899000911131,180.0],"actuator_force":[-0.014861146167731931,-18.987722360318458,-22.280936894635488,-2.327427317473621,0.00257616252781645,0.007864045632743455,5.0],"issued_joint_targets_rad":[-2.0145521466519325,-1.6331697217050107,1.5551904916686485,-1.4925826137265283,-1.5708209088452691,-0.44375187944022626],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.820000000000946,"joint_targets_rad":[-2.0145521466519325,-1.6331697217050107,1.5551904916686485,-1.4925826137265283,-1.5708209088452691,-0.44375187944022626],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.840000000000953,"qpos":[-2.0130064487823836,-1.6287802505010838,1.5093296726144203,-1.4510069657149336,-1.5708268398289453,-0.4422057120195816,0.461177700562214,0.0002976715188297377,0.4582780755154016,-0.4508769141220105,0.4611770650982206,0.00029206664438443546,0.45820967896106096,-0.45105476532878064,0.07766261584144422,0.4777158243138631,0.3720818709020693,0.999999995817682,4.6888674762797126e-05,5.8930834144728984e-05,-5.189649289759067e-05],"qvel":[-0.007672093101416586,-0.020449402511857135,0.23302703139610903,-0.20869628976415702,9.504058560985973e-06,-0.007809434838212265,-9.570322052177856e-05,6.292085241066513e-05,-4.852949679170204e-05,-0.00014555448979118918,-0.00012002002841473814,3.416283588933019e-05,-0.0003262968995561961,-0.00016210015457920963,0.003398927885164028,-0.0007123025530323333,-0.08286551037095632,-0.00752073251565084,0.0032362084996158348,0.0008631448154711977],"joint_position_rad":[-2.0130064487823836,-1.6287802505010838,1.5093296726144203,-1.4510069657149336,-1.5708268398289453,-0.4422057120195816],"joint_velocity_rad_s":[-0.007672093101416586,-0.020449402511857135,0.23302703139610903,-0.20869628976415702,9.504058560985973e-06,-0.007809434838212265],"linkage_position_rad":[0.461177700562214,0.0002976715188297377,0.4582780755154016,-0.4508769141220105,0.4611770650982206,0.00029206664438443546,0.45820967896106096,-0.45105476532878064],"tcp_position_m":[0.07767000179095862,0.47715078609138895,0.37816523640328026],"tcp_quaternion_wxyz":[7.136593561900746e-05,0.7071083282895387,0.7071052136261615,-0.00015437997691617806],"object_position_m":[0.07766261584144422,0.4777158243138631,0.3720818709020693],"object_quaternion_wxyz":[0.999999995817682,4.6888674762797126e-05,5.8930834144728984e-05,-5.189649289759067e-05],"object_linear_velocity_m_s":[0.003398927885164028,-0.0007123025530323333,-0.08286551037095632],"object_angular_velocity_rad_s":[-0.007520294781791075,0.0032369080769593726,0.0008643347116190676],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632519329901657,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10812826167619,"right":46.10819750502441},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.014547718246338,-1.642362262484213,1.5447903526733335,-1.4974009685661842,-1.570819789906202,-0.44375188209874467,180.0],"actuator_force":[-0.013701687341836077,-18.984262961515014,-22.289452440617424,-2.3273724492096335,0.0025745555155936017,0.007858444239701612,5.0],"issued_joint_targets_rad":[-2.0147141663069243,-1.633446172526104,1.5598216204469113,-1.4969381186228086,-1.570820770207737,-0.4439139017830698],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.840000000000953,"joint_targets_rad":[-2.0147141663069243,-1.633446172526104,1.5598216204469113,-1.4969381186228086,-1.570820770207737,-0.4439139017830698],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.8600000000009596,"qpos":[-2.0131683648949434,-1.629219488941997,1.5141344820851812,-1.4553613282763855,-1.570826306476113,-0.4423686925637234,0.4611777062035463,0.0002975656737443497,0.45827798967000266,-0.4508762189522602,0.46117708908968125,0.0002921600462466228,0.45820980056487975,-0.45105541468419535,0.0777443801434349,0.4777156179403119,0.37037111416666235,0.9999999959373107,4.111104652124077e-05,6.400235550225119e-05,-4.836279314407028e-05],"qvel":[-0.007675527116736543,-0.01962038302866884,0.23215522361734864,-0.20870255912783942,7.557511312274026e-06,-0.0078045951206549835,-9.429781953280784e-05,6.27679226970094e-05,-4.676470121159928e-05,-0.00014695009683600614,-0.00011857095932091292,3.380237408601187e-05,-0.0003242525878813397,-0.0001612374262593352,0.003402545609617388,-0.000713312406926089,-0.08287534367155502,-0.007476211850874862,0.0032084769293162095,0.0008347843239506984],"joint_position_rad":[-2.0131683648949434,-1.629219488941997,1.5141344820851812,-1.4553613282763855,-1.570826306476113,-0.4423686925637234],"joint_velocity_rad_s":[-0.007675527116736543,-0.01962038302866884,0.23215522361734864,-0.20870255912783942,7.557511312274026e-06,-0.0078045951206549835],"linkage_position_rad":[0.4611777062035463,0.0002975656737443497,0.45827798967000266,-0.4508762189522602,0.46117708908968125,0.0002921600462466228,0.45820980056487975,-0.45105541468419535],"tcp_position_m":[0.07775184192970415,0.4771481972782146,0.3764537081755075],"tcp_quaternion_wxyz":[7.297464415623132e-05,0.707107951249901,0.7071055893082243,-0.00015975899699051995],"object_position_m":[0.0777443801434349,0.4777156179403119,0.37037111416666235],"object_quaternion_wxyz":[0.9999999959373107,4.111104652124077e-05,6.400235550225119e-05,-4.836279314407028e-05],"object_linear_velocity_m_s":[0.003402545609617388,-0.000713312406926089,-0.08287534367155502],"object_angular_velocity_rad_s":[-0.007475794542950789,0.003209131362208537,0.0008360051221773763],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632518843858377,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108103361132194,"right":46.10818325343991},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.014709737065178,-1.6426341689584658,1.5494167271354053,-1.5017564801770356,-1.5708196496008668,-0.4439139044550496,180.0],"actuator_force":[-0.012533493775208626,-18.981206821470096,-22.297599346491097,-2.327320037541085,0.0025726864918169667,0.0078535664024173,5.0],"issued_joint_targets_rad":[-2.014876228346558,-1.6337048712758568,1.5644350374780738,-1.5012936581435044,-1.5708206308782833,-0.4440759661539109],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.8600000000009596,"joint_targets_rad":[-2.014876228346558,-1.6337048712758568,1.5644350374780738,-1.5012936581435044,-1.5708206308782833,-0.4440759661539109],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.880000000000966,"qpos":[-2.013330292821442,-1.6296415097498989,1.518921280246138,-1.4597158069093583,-1.5708258106680117,-0.44253158509588764,0.46117771196048724,0.0002974635407790033,0.45827790728796625,-0.4508755491305632,0.46117711253460547,0.00029224978795282345,0.45820991818703977,-0.4510560388499201,0.07782620158662716,0.4777154773949095,0.36866023335369885,0.9999999959829534,3.573318885987092e-05,6.87730921747771e-05,-4.502771145266515e-05],"qvel":[-0.0076791338891770665,-0.018788624467052966,0.23128487364410028,-0.20870841691350098,5.8038601693298595e-06,-0.0078004122171678545,-9.290451404676215e-05,6.261192816731877e-05,-4.501742580223842e-05,-0.00014830435002260108,-0.0001171334957816928,3.3450432595044415e-05,-0.00032222150581656396,-0.00016042125221104182,0.0034062488999728386,-0.0007141795914244915,-0.08288512506056439,-0.007435665625737603,0.003183161051726754,0.0008076599210417594],"joint_position_rad":[-2.013330292821442,-1.6296415097498989,1.518921280246138,-1.4597158069093583,-1.5708258106680117,-0.44253158509588764],"joint_velocity_rad_s":[-0.0076791338891770665,-0.018788624467052966,0.23128487364410028,-0.20870841691350098,5.8038601693298595e-06,-0.0078004122171678545],"linkage_position_rad":[0.46117771196048724,0.0002974635407790033,0.45827790728796625,-0.4508755491305632,0.46117711253460547,0.00029224978795282345,0.45820991818703977,-0.4510560388499201],"tcp_position_m":[0.07783373465900151,0.4771456676808043,0.37474207076433397],"tcp_quaternion_wxyz":[7.444637011198916e-05,0.707107609543833,0.7071059297273578,-0.00016470383148486464],"object_position_m":[0.07782620158662716,0.4777154773949095,0.36866023335369885],"object_quaternion_wxyz":[0.9999999959829534,3.573318885987092e-05,6.87730921747771e-05,-4.502771145266515e-05],"object_linear_velocity_m_s":[0.0034062488999728386,-0.0007141795914244915,-0.08288512506056439],"object_angular_velocity_rad_s":[-0.007435267760748978,0.003183772890623047,0.0008089101519723163],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463251836308296,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10807864846542,"right":46.10816896222087},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0148717982002626,-1.6428885115265606,1.5540255658630635,-1.50611202903131,-1.570819508732961,-0.44407596883829675,180.0],"actuator_force":[-0.011357201970440656,-18.978553766502046,-22.30537822378892,-2.32726936962581,0.0025705815083938433,0.00784935051220259,5.0],"issued_joint_targets_rad":[-2.015038334478708,-1.633945802847739,1.5690308256021703,-1.505649329847574,-1.5708204910204493,-0.44423807429161527],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.880000000000966,"joint_targets_rad":[-2.015038334478708,-1.633945802847739,1.5690308256021703,-1.505649329847574,-1.5708204910204493,-0.44423807429161527],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.900000000000973,"qpos":[-2.0134922358707663,-1.6300462596409668,1.5236901022926963,-1.4640704017742485,-1.5708253487552966,-0.4426944022393862,0.46117771781450617,0.00029736500690917306,0.4582778282428768,-0.4508749038428242,0.4611771354358614,0.0002923359986822839,0.4582100319467668,-0.45105663870594387,0.07790808213466038,0.47771540583709543,0.3669492284559691,0.9999999959673065,3.0716887757458605e-05,7.32664759844648e-05,-4.187939700756092e-05],"qvel":[-0.0076829040109256145,-0.017954323412041548,0.23041622093056036,-0.20871435502155464,4.223868375259036e-06,-0.007796831151826867,-9.152307948903417e-05,6.245290627823337e-05,-4.3287312643001854e-05,-0.00014961796489587427,-0.00011570741576244304,3.310679675821899e-05,-0.0003202034451448096,-0.00015965035259242618,0.0034100446244500334,-0.0007148934726132795,-0.08289485046894074,-0.007398706461766003,0.003160046862255311,0.0007816915921101023],"joint_position_rad":[-2.0134922358707663,-1.6300462596409668,1.5236901022926963,-1.4640704017742485,-1.5708253487552966,-0.4426944022393862],"joint_velocity_rad_s":[-0.0076829040109256145,-0.017954323412041548,0.23041622093056036,-0.20871435502155464,4.223868375259036e-06,-0.007796831151826867],"linkage_position_rad":[0.46117771781450617,0.00029736500690917306,0.4582778282428768,-0.4508749038428242,0.4611771354358614,0.0002923359986822839,0.4582100319467668,-0.45105663870594387],"tcp_position_m":[0.07791568227269484,0.47714320063244026,0.37303032429041916],"tcp_quaternion_wxyz":[7.57944448884361e-05,0.7071072998768078,0.7071062381766469,-0.00016925661922187555],"object_position_m":[0.07790808213466038,0.47771540583709543,0.3669492284559691],"object_quaternion_wxyz":[0.9999999959673065,3.0716887757458605e-05,7.32664759844648e-05,-4.187939700756092e-05],"object_linear_velocity_m_s":[0.0034100446244500334,-0.0007148934726132795,-0.08289485046894074],"object_angular_velocity_rad_s":[-0.00739832711887935,0.0031606184915709728,0.0007829698697889613],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632517887872252,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.108054119075575,"right":46.108154647002614},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01503390335744,-1.6431252762101056,1.5586169516848352,-1.5104677123886243,-1.5708193674536208,-0.4442380769874595,180.0],"actuator_force":[-0.010173368976666097,-18.97630377346104,-22.312789587946554,-2.3272198050324278,0.0025682640003878987,0.007845741146041973,5.0],"issued_joint_targets_rad":[-2.015200486485803,-1.6341689498969099,1.5736090642867797,-1.5100052302169147,-1.570820350778691,-0.4444002280063161],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.900000000000973,"joint_targets_rad":[-2.015200486485803,-1.6341689498969099,1.5736090642867797,-1.5100052302169147,-1.570820350778691,-0.4444002280063161],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.92000000000098,"qpos":[-2.0136541971732074,-1.630433688870321,1.528440987697947,-1.4684251222736282,-1.57082491745184,-0.4428571555807273,0.46117772374847876,0.000297269960995332,0.45827775241203844,-0.4508742822924562,0.46117715779728063,0.00029241880412953354,0.45821014196136783,-0.4510572151086808,0.07799002389034276,0.47771540665750106,0.36523809954809977,0.999999995900987,2.6027597248750012e-05,7.750390178056655e-05,-3.890675603214232e-05],"qvel":[-0.007686829523586659,-0.017117646811151334,0.22954946646112742,-0.20872081325386777,2.800227994265544e-06,-0.007793802545424448,-9.015329718052291e-05,6.229090262691203e-05,-4.157400517296029e-05,-0.00015089169471047665,-0.00011429250408853165,3.2771251534997836e-05,-0.0003181982081702653,-0.00015892344503747508,0.0034139401241922353,-0.0007154426983334186,-0.08290451627103546,-0.007364984309996859,0.003138940177405019,0.0007568048297626521],"joint_position_rad":[-2.0136541971732074,-1.630433688870321,1.528440987697947,-1.4684251222736282,-1.57082491745184,-0.4428571555807273],"joint_velocity_rad_s":[-0.007686829523586659,-0.017117646811151334,0.22954946646112742,-0.20872081325386777,2.800227994265544e-06,-0.007793802545424448],"linkage_position_rad":[0.46117772374847876,0.000297269960995332,0.45827775241203844,-0.4508742822924562,0.46117715779728063,0.00029241880412953354,0.45821014196136783,-0.4510572151086808],"tcp_position_m":[0.07799768717630712,0.47714079967225614,0.3713184689222756],"tcp_quaternion_wxyz":[7.703091536148417e-05,0.7071070192574019,0.7071065176452266,-0.0001734554419252144],"object_position_m":[0.07799002389034276,0.47771540665750106,0.36523809954809977],"object_quaternion_wxyz":[0.999999995900987,2.6027597248750012e-05,7.750390178056655e-05,-3.890675603214232e-05],"object_linear_velocity_m_s":[0.0034139401241922353,-0.0007154426983334186,-0.08290451627103546],"object_angular_velocity_rad_s":[-0.0073646226254752934,0.003139473829041705,0.0007581098438083154],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325174184854025,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10802976839894,"right":46.10814032188724},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.015196054317589,-1.643344446714445,1.5631909640584314,-1.514823626461224,-1.5708192258961426,-0.4444002307127681,180.0],"actuator_force":[-0.00898247932900631,-18.97445696378736,-22.319833863482472,-2.327170768411065,0.002565755049317886,0.007842688522060826,5.0],"issued_joint_targets_rad":[-2.01536268623573,-1.6343742927767066,1.578169829606442,-1.514361454693481,-1.570820210280354,-0.4445624291906336],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.92000000000098,"joint_targets_rad":[-2.01536268623573,-1.6343742927767066,1.578169829606442,-1.514361454693481,-1.570820210280354,-0.4445624291906336],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.940000000000986,"qpos":[-2.013816179708401,-1.6308037506651318,1.5331739794807768,-1.4727799860664468,-1.570824513798281,-0.4430198557768502,0.46117772974655896,0.000297178293932533,0.45827767967642263,-0.45087368370096537,0.4611771796235111,0.0002924983264880591,0.4582102483460393,-0.45105776889084775,0.07807202910617245,0.4777154834942375,0.3635268467782846,0.9999999957928747,2.1634085183017107e-05,8.15049157078169e-05,-3.609939860610138e-05],"qvel":[-0.0076909038173389324,-0.016278734558199632,0.22868477632422302,-0.20872818448015662,1.5173660449647213e-06,-0.007791282130509715,-8.879495355605052e-05,6.212596950871596e-05,-3.987714770607037e-05,-0.00015212632248306566,-0.00011288855130932741,3.2443582049420544e-05,-0.000316205605260489,-0.00015823924927356822,0.0034179432645526555,-0.0007158151147354492,-0.08291411923516671,-0.007334182843257619,0.0031196647530629,0.0007329302093483418],"joint_position_rad":[-2.013816179708401,-1.6308037506651318,1.5331739794807768,-1.4727799860664468,-1.570824513798281,-0.4430198557768502],"joint_velocity_rad_s":[-0.0076909038173389324,-0.016278734558199632,0.22868477632422302,-0.20872818448015662,1.5173660449647213e-06,-0.007791282130509715],"linkage_position_rad":[0.46117772974655896,0.000297178293932533,0.45827767967642263,-0.45087368370096537,0.4611771796235111,0.0002924983264880591,0.4582102483460393,-0.45105776889084775],"tcp_position_m":[0.07807975190004354,0.47713846856368747,0.36960650487150826],"tcp_quaternion_wxyz":[7.816666783430318e-05,0.7071067649693734,0.7071067708464664,-0.00017733471587643205],"object_position_m":[0.07807202910617245,0.4777154834942375,0.3635268467782846],"object_quaternion_wxyz":[0.9999999957928747,2.1634085183017107e-05,8.15049157078169e-05,-3.609939860610138e-05],"object_linear_velocity_m_s":[0.0034179432645526555,-0.0007158151147354492,-0.08291411923516671],"object_angular_velocity_rad_s":[-0.007333838005971397,0.0031201625184628917,0.0007342607181115765],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632516955147737,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10800559188034,"right":46.108125999580345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.015358252947474,-1.6435460043762196,1.5677476790513392,-1.5191798664481961,-1.570819084177834,-0.4445624319069304,180.0],"actuator_force":[-0.007784951210851432,-18.97301359889525,-22.32651138856454,-2.327121742859049,0.002563073619057832,0.007840148010870962,5.0],"issued_joint_targets_rad":[-2.0155249356936054,-1.6345618094634147,1.582713194207391,-1.5187180977140684,-1.570820069637424,-0.44472467983172537],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.940000000000986,"joint_targets_rad":[-2.0155249356936054,-1.6345618094634147,1.582713194207391,-1.5187180977140684,-1.570820069637424,-0.44472467983172537],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.960000000000993,"qpos":[-2.0139781863313817,-1.6311564007057706,1.5378891235406893,-1.4771350181800276,-1.5708241351292314,-0.44318251265323305,0.46117773579405646,0.00029708989877295347,0.45827760992060185,-0.4508731073083778,0.4611772009198794,0.00029257468444897507,0.4582103512137041,-0.4510583008614267,0.07815410019598308,0.47771564025110597,0.36181547036098854,0.9999999956503933,1.7508113096208392e-05,8.528738563992506e-05,-3.344758947293156e-05],"qvel":[-0.007695121545709572,-0.015437701770646284,0.22782228487695586,-0.20873681929894125,3.612702156567222e-07,-0.0077892303167241455,-8.74478394325299e-05,6.195816424314062e-05,-3.8196385552070405e-05,-0.00015332265361558874,-0.00011149535271497508,3.212357432466513e-05,-0.00031422545279765203,-0.00015759649177715822,0.0034220624931147947,-0.0007159976721803834,-0.08292365647866426,-0.0073060161961184394,0.003102060581526413,0.0007100029980933085],"joint_position_rad":[-2.0139781863313817,-1.6311564007057706,1.5378891235406893,-1.4771350181800276,-1.5708241351292314,-0.44318251265323305],"joint_velocity_rad_s":[-0.007695121545709572,-0.015437701770646284,0.22782228487695586,-0.20873681929894125,3.612702156567222e-07,-0.0077892303167241455],"linkage_position_rad":[0.46117773579405646,0.00029708989877295347,0.45827760992060185,-0.4508731073083778,0.4611772009198794,0.00029257468444897507,0.4582103512137041,-0.4510583008614267],"tcp_position_m":[0.07816187911268407,0.4771362113146045,0.36789443238862296],"tcp_quaternion_wxyz":[7.921154004310657e-05,0.707106534546272,0.7071070002435557,-0.0001809255458104819],"object_position_m":[0.07815410019598308,0.47771564025110597,0.36181547036098854],"object_quaternion_wxyz":[0.9999999956503933,1.7508113096208392e-05,8.528738563992506e-05,-3.344758947293156e-05],"object_linear_velocity_m_s":[0.0034220624931147947,-0.0007159976721803834,-0.08292365647866426],"object_angular_velocity_rad_s":[-0.007305687443556493,0.0031025244224472705,0.0007113578226783393],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632516498054196,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10798158491566,"right":46.10811169148445},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0155205012114683,-1.643729928098313,1.5722871693065887,-1.5235365265676326,-1.570818942401655,-0.4447246825571832,180.0],"actuator_force":[-0.006581141889455466,-18.971974076826427,-22.33282241898314,-2.3270722639083488,0.0025602367666124337,0.007838079697336298,5.0],"issued_joint_targets_rad":[-2.015687236934604,-1.6347314754677489,1.587239227256365,-1.5230752527430227,-1.5708199289480924,-0.44488698202436316],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.960000000000993,"joint_targets_rad":[-2.015687236934604,-1.6347314754677489,1.587239227256365,-1.5230752527430227,-1.5708199289480924,-0.44488698202436316],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":7.980000000001,"qpos":[-2.0141402197970644,-1.6314915966490748,1.5425864680514811,-1.4814902502102716,-1.5708237790437676,-0.4433451352938447,0.46117774187733207,0.000297004670825128,0.4582775430326841,-0.45087255237354984,0.4611772216922748,0.0002926479932128199,0.4582104506748823,-0.451058811805742,0.07823623974787065,0.47771588111798785,0.3601039705705411,0.9999999954797514,1.362414689798662e-05,8.886765549447845e-05,-3.0942202504943576e-05],"qvel":[-0.007699478555243391,-0.014594640782825656,0.22696209753385818,-0.2087470302427512,-6.806678918856551e-07,-0.007787611802515848,-8.611174875049073e-05,6.178754796667138e-05,-3.653136422978186e-05,-0.00015448150908980676,-0.00011011270675579735,3.1811015757787366e-05,-0.00031225757037016416,-0.00015699391028774646,0.0034263069059727283,-0.0007159763186027754,-0.08293312542688054,-0.007280226019060292,0.003085982352563038,0.0006879627946695438],"joint_position_rad":[-2.0141402197970644,-1.6314915966490748,1.5425864680514811,-1.4814902502102716,-1.5708237790437676,-0.4433451352938447],"joint_velocity_rad_s":[-0.007699478555243391,-0.014594640782825656,0.22696209753385818,-0.2087470302427512,-6.806678918856551e-07,-0.007787611802515848],"linkage_position_rad":[0.46117774187733207,0.000297004670825128,0.4582775430326841,-0.45087255237354984,0.4611772216922748,0.0002926479932128199,0.4582104506748823,-0.451058811805742],"tcp_position_m":[0.07824407163654946,0.4771340321993882,0.36618225175934793],"tcp_quaternion_wxyz":[8.017442237281533e-05,0.7071063257483566,0.7071072080727435,-0.0001842560447089929],"object_position_m":[0.07823623974787065,0.47771588111798785,0.3601039705705411],"object_quaternion_wxyz":[0.9999999954797514,1.362414689798662e-05,8.886765549447845e-05,-3.0942202504943576e-05],"object_linear_velocity_m_s":[0.0034263069059727283,-0.0007159763186027754,-0.08293312542688054],"object_angular_velocity_rad_s":[-0.0072799126337749894,0.003086414110737003,0.0006893408136976535],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632516047372455,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107957742858865,"right":46.10809740784592},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.015682801184348,-1.643896194270719,1.5768095039924717,-1.52789370008697,-1.5708188006576802,-0.44488698475836963,180.0],"actuator_force":[-0.005371352469865087,-18.9713389301578,-22.338767131562236,-2.3270219140739528,0.002557259832883574,0.007836447989149065,5.0],"issued_joint_targets_rad":[-2.0158495921580566,-1.6348832637311934,1.591747994371955,-1.5274330123031548,-1.5708197882981483,-0.44504933798524265],"issued_gripper_0_255":180.0,"command":{"t_seconds":7.980000000001,"joint_targets_rad":[-2.0158495921580566,-1.6348832637311934,1.591747994371955,-1.5274330123031548,-1.5708197882981483,-0.44504933798524265],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.000000000001005,"qpos":[-2.014302282783435,-1.6318092976881888,1.5472660629065016,-1.4858457196014478,-1.5708234433788852,-0.44350773212384137,0.4611777479836972,0.00029692250773223654,0.45827747890423864,-0.45087201817435885,0.46117724194704013,0.00029271836451313184,0.4582105468375849,-0.4510593024855907,0.07831845053859357,0.47771621059371067,0.35839234773555156,0.9999999952861354,9.959095386806512e-06,9.226068498409489e-05,-2.8574678521755276e-05],"qvel":[-0.007703971829515157,-0.013749622874028906,0.22610429320847691,-0.20875909557259634,-1.6197937095487982e-06,-0.007786395229727079,-8.478647835900934e-05,6.161418433164924e-05,-3.488172938098374e-05,-0.00015560371876608358,-0.00010874041455900811,3.150569541665137e-05,-0.00031030177953260944,-0.0001564302556141585,0.0034306863236939944,-0.0007157358782096099,-0.08294252377567551,-0.007256578816366047,0.0030712980616548866,0.0006667531967607506],"joint_position_rad":[-2.014302282783435,-1.6318092976881888,1.5472660629065016,-1.4858457196014478,-1.5708234433788852,-0.44350773212384137],"joint_velocity_rad_s":[-0.007703971829515157,-0.013749622874028906,0.22610429320847691,-0.20875909557259634,-1.6197937095487982e-06,-0.007786395229727079],"linkage_position_rad":[0.4611777479836972,0.00029692250773223654,0.45827747890423864,-0.45087201817435885,0.46117724194704013,0.00029271836451313184,0.4582105468375849,-0.4510593024855907],"tcp_position_m":[0.07832633246374937,0.47713193578327096,0.36446996330144527],"tcp_quaternion_wxyz":[8.106334932294579e-05,0.7071061365416084,0.7071073963644438,-0.00018735162277223075],"object_position_m":[0.07831845053859357,0.47771621059371067,0.35839234773555156],"object_quaternion_wxyz":[0.9999999952861354,9.959095386806512e-06,9.226068498409489e-05,-2.8574678521755276e-05],"object_linear_velocity_m_s":[0.0034306863236939944,-0.0007157358782096099,-0.08294252377567551],"object_angular_velocity_rad_s":[-0.007256280122793453,0.003071699467473849,0.0006681533417725091],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632515603245707,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107934060931946,"right":46.10808315779309},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.015845155065353,-1.6440447766755821,1.5813147487346897,-1.5322514793517639,-1.5708186590244038,-0.44504934072724966,180.0],"actuator_force":[-0.0041558320294825535,-18.97110882517518,-22.344345627015173,-2.326970317898372,0.0025541566117226466,0.007835221268550185,5.0],"issued_joint_targets_rad":[-2.0160120037030778,-1.6350171445049202,1.5962395575365012,-1.5317914680050804,-1.570819647762215,-0.4452117500688047],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.000000000001005,"joint_targets_rad":[-2.0160120037030778,-1.6350171445049202,1.5962395575365012,-1.5317914680050804,-1.570819647762215,-0.4452117500688047],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.020000000000994,"qpos":[-2.0144643782710565,-1.6321094631720656,1.5519279203359115,-1.4902014691313255,-1.5708231262034305,-0.4436703109856296,0.46117775399212096,0.00029684315406533284,0.45827741747116363,-0.45087150303679563,0.4611772616128231,0.000292785792713076,0.4582106399588506,-0.4510597728772618,0.07840073977376964,0.4777166419259806,0.35668062132805317,0.9999999950745552,6.509591218405321e-06,9.547181941036089e-05,-2.633718695441019e-05],"qvel":[-0.007708572367391017,-0.012902931579251896,0.22524900165849,-0.2087733371691032,-2.4718786444453814e-06,-0.007785552852109391,-8.33971676541602e-05,6.144274759002954e-05,-3.317683706785468e-05,-0.00015674795198602362,-0.0001073072320253298,3.121228322658672e-05,-0.0003083243924185452,-0.00015601336126254555,0.003435154987628757,-0.000715343383263723,-0.08295187037282002,-0.007234705519030983,0.0030578138171804318,0.0006463246909445388],"joint_position_rad":[-2.0144643782710565,-1.6321094631720656,1.5519279203359115,-1.4902014691313255,-1.5708231262034305,-0.4436703109856296],"joint_velocity_rad_s":[-0.007708572367391017,-0.012902931579251896,0.22524900165849,-0.2087733371691032,-2.4718786444453814e-06,-0.007785552852109391],"linkage_position_rad":[0.46117775399212096,0.00029684315406533284,0.45827741747116363,-0.45087150303679563,0.4611772616128231,0.000292785792713076,0.4582106399588506,-0.4510597728772618],"tcp_position_m":[0.07840866879169027,0.47712993500556433,0.3627575859962313],"tcp_quaternion_wxyz":[8.18792175022349e-05,0.7071059652080058,0.7071075668386073,-0.0001902173278989751],"object_position_m":[0.07840073977376964,0.4777166419259806,0.35668062132805317],"object_quaternion_wxyz":[0.9999999950745552,6.509591218405321e-06,9.547181941036089e-05,-2.633718695441019e-05],"object_linear_velocity_m_s":[0.003435154987628757,-0.000715343383263723,-0.08295187037282002],"object_angular_velocity_rad_s":[-0.007234420893513108,0.003058186469399126,0.0006477458974371807],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632515157957159,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107910230063325,"right":46.10806861664547},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0160075652009772,-1.6441756463678068,1.5858029655253447,-1.5366099559510948,-1.5708185175695537,-0.44521175281827197,180.0],"actuator_force":[-0.0029449128851410933,-18.971193759781727,-22.349510284529515,-2.3269096929743682,0.0025515048029092213,0.007834368889746202,5.0],"issued_joint_targets_rad":[-2.0161744737805014,-1.6351330692349009,1.6007139128605827,-1.536150664612677,-1.570819507325326,-0.44537422049950975],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.020000000000994,"joint_targets_rad":[-2.0161744737805014,-1.6351330692349009,1.6007139128605827,-1.536150664612677,-1.570819507325326,-0.44537422049950975],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.040000000000983,"qpos":[-2.014626508792109,-1.6323920531403555,1.556572050159055,-1.4945575425421167,-1.5708228257580263,-0.44383287918388314,0.46117776012591105,0.0002967665252061532,0.45827735888987353,-0.4508710065963841,0.4611772809288693,0.0002928503765332006,0.45821073036268284,-0.45106022392218753,0.07848311452859258,0.477717188509765,0.354968811699236,0.9999999948495991,3.2732844444907315e-06,9.850571232679742e-05,-2.4222148166141732e-05],"qvel":[-0.007713274329152068,-0.012054543848619268,0.22439614345248474,-0.2087897666042344,-3.2452844970973474e-06,-0.007785059013394178,-8.19585436598364e-05,6.127498104982404e-05,-3.143243154827765e-05,-0.00015791350639659906,-0.00010582805470510747,3.093030618870943e-05,-0.00030634053754011973,-0.0001557221553253114,0.0034397208822867916,-0.0007147956970711593,-0.08296116094597425,-0.0072145641781025055,0.0030454962815398743,0.0006266302237231706],"joint_position_rad":[-2.014626508792109,-1.6323920531403555,1.556572050159055,-1.4945575425421167,-1.5708228257580263,-0.44383287918388314],"joint_velocity_rad_s":[-0.007713274329152068,-0.012054543848619268,0.22439614345248474,-0.2087897666042344,-3.2452844970973474e-06,-0.007785059013394178],"linkage_position_rad":[0.46117776012591105,0.0002967665252061532,0.45827735888987353,-0.4508710065963841,0.4611772809288693,0.0002928503765332006,0.45821073036268284,-0.45106022392218753],"tcp_position_m":[0.07849108784750569,0.4771280432282111,0.36104514002781796],"tcp_quaternion_wxyz":[8.262232022331828e-05,0.7071058100612758,0.7071077211836961,-0.00019285626420185412],"object_position_m":[0.07848311452859258,0.477717188509765,0.354968811699236],"object_quaternion_wxyz":[0.9999999948495991,3.2732844444907315e-06,9.850571232679742e-05,-2.4222148166141732e-05],"object_linear_velocity_m_s":[0.0034397208822867916,-0.0007147956970711593,-0.08296116094597425],"object_angular_velocity_rad_s":[-0.007214293037524862,0.0030458416724634062,0.000628071487270452],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463251470916378,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10788635170769,"right":46.10805388270485},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0161700338052198,-1.6442887556002532,1.59027415048594,-1.5409691746350507,-1.5708183762722734,-0.4453742232559019,180.0],"actuator_force":[-0.0017402945600224484,-18.9715873803475,-22.35425672722431,-2.3268393860436163,0.002549271326188318,0.007833865330042045,5.0],"issued_joint_targets_rad":[-2.01633700436891,-1.6352309878080973,1.6051710509896606,-1.5405106430042297,-1.5708193669649024,-0.4455367512687517],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.040000000000983,"joint_targets_rad":[-2.01633700436891,-1.6352309878080973,1.6051710509896606,-1.5405106430042297,-1.5708193669649024,-0.4455367512687517],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.060000000000972,"qpos":[-2.0147886764221834,-1.6326570277939496,1.5611985007793825,-1.4989139832376162,-1.5708225404286655,-0.4439954435153145,0.4611777664812908,0.00029669268469050523,0.4582773030163151,-0.45087052918175957,0.46117729997629603,0.0002929123342113162,0.45821081798375973,-0.45106065707117565,0.0785655776526131,0.4777178551557547,0.35325691940808673,0.9999999946145732,2.2984792463669762e-07,0.00010137540538556935,-2.2222238324410013e-05],"qvel":[-0.00771810353112825,-0.011204172167401837,0.2235455523570192,-0.20880829374071286,-3.9421705734315065e-06,-0.00778488947074329,-8.055343446016778e-05,6.110517574343779e-05,-2.9727420239579746e-05,-0.00015902899818637305,-0.00010438178754975698,3.0655076273324066e-05,-0.0003043892473357212,-0.00015543960480592954,0.0034444487152380976,-0.0007140000324191469,-0.08297037370404944,-0.007196298006217535,0.003034393332415118,0.0006076191689254314],"joint_position_rad":[-2.0147886764221834,-1.6326570277939496,1.5611985007793825,-1.4989139832376162,-1.5708225404286655,-0.4439954435153145],"joint_velocity_rad_s":[-0.00771810353112825,-0.011204172167401837,0.2235455523570192,-0.20880829374071286,-3.9421705734315065e-06,-0.00778488947074329],"linkage_position_rad":[0.4611777664812908,0.00029669268469050523,0.4582773030163151,-0.45087052918175957,0.46117729997629603,0.0002929123342113162,0.45821081798375973,-0.45106065707117565],"tcp_position_m":[0.07857359277905708,0.477126265621291,0.3593326262847719],"tcp_quaternion_wxyz":[8.329950616289364e-05,0.7071056694300795,0.7071078610671324,-0.00019528977367893054],"object_position_m":[0.0785655776526131,0.4777178551557547,0.35325691940808673],"object_quaternion_wxyz":[0.9999999946145732,2.2984792463669762e-07,0.00010137540538556935,-2.2222238324410013e-05],"object_linear_velocity_m_s":[0.0034444487152380976,-0.0007140000324191469,-0.08297037370404944],"object_angular_velocity_rad_s":[-0.007196039793761194,0.00303471288272179,0.0006090795929836832],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632514265018962,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1078626428863,"right":46.108039214782345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.016332562851691,-1.6443840550868485,1.594728294284826,-1.5453291761261474,-1.5708182351050255,-0.4455367540315902,180.0],"actuator_force":[-0.0005314465634000953,-18.97238571883736,-22.35863393192085,-2.3267670701943644,0.0025468788772968765,0.007833688936472072,5.0],"issued_joint_targets_rad":[-2.0164995978455305,-1.6353108648310768,1.609611024212199,-1.5448714907889025,-1.5708192267405854,-0.445699344764894],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.060000000000972,"joint_targets_rad":[-2.0164995978455305,-1.6353108648310768,1.609611024212199,-1.5448714907889025,-1.5708192267405854,-0.445699344764894],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.080000000000961,"qpos":[-2.014950883634458,-1.6329043463275534,1.5658073206529273,-1.503270838080512,-1.5708222687732631,-0.4441580103520725,0.46117777278385075,0.00029662151288550393,0.45827724946578724,-0.4508700697157158,0.46117731850259686,0.00029297177380766963,0.45821090268412806,-0.45106107275305385,0.0786481326990674,0.47771864750880827,0.3515449448256554,0.9999999943721796,-2.6392408637418986e-06,0.00010409290238022147,-2.0330831556132634e-05],"qvel":[-0.007723063403618453,-0.010351829612630089,0.2226972540721853,-0.2088291216453439,-4.570841356432447e-06,-0.007785024097344155,-7.916285777549623e-05,6.093182393184203e-05,-2.8041456737931077e-05,-0.00016009979010192806,-0.00010294938906896165,3.0386815503538755e-05,-0.0003024523555910327,-0.00015519014487722356,0.0034493462749506276,-0.0007129360412052253,-0.08297951270028657,-0.007179728857649713,0.0030243985811787273,0.0005892444812899324],"joint_position_rad":[-2.014950883634458,-1.6329043463275534,1.5658073206529273,-1.503270838080512,-1.5708222687732631,-0.4441580103520725],"joint_velocity_rad_s":[-0.007723063403618453,-0.010351829612630089,0.2226972540721853,-0.2088291216453439,-4.570841356432447e-06,-0.007785024097344155],"linkage_position_rad":[0.46117777278385075,0.00029662151288550393,0.45827724946578724,-0.4508700697157158,0.46117731850259686,0.00029297177380766963,0.45821090268412806,-0.45106107275305385],"tcp_position_m":[0.07865618723719561,0.47712460787021455,0.3576200450938374],"tcp_quaternion_wxyz":[8.391728949913945e-05,0.7071055419336871,0.7071079878655562,-0.0001975380431097961],"object_position_m":[0.0786481326990674,0.47771864750880827,0.3515449448256554],"object_quaternion_wxyz":[0.9999999943721796,-2.6392408637418986e-06,0.00010409290238022147,-2.0330831556132634e-05],"object_linear_velocity_m_s":[0.0034493462749506276,-0.0007129360412052253,-0.08297951270028657],"object_angular_velocity_rad_s":[-0.007179483048311986,0.0030246936301178704,0.000590723208330086],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325138279991296,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10783896316413,"right":46.108024497735514},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.016495154717456,-1.6444615102525206,1.599165449243454,-1.54969004789267,-1.5708180941226493,-0.445699347533752,180.0],"actuator_force":[0.000683195450619678,-18.973596004882438,-22.362644447820912,-2.326692741544548,0.0025444094426347874,0.007833818894653177,5.0],"issued_joint_targets_rad":[-2.0166622570922135,-1.6353726614633952,1.6140338820284739,-1.5492332962496336,-1.570819086708069,-0.4458620038786924],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.080000000000961,"joint_targets_rad":[-2.0166622570922135,-1.6353726614633952,1.6140338820284739,-1.5492332962496336,-1.570819086708069,-0.4458620038786924],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.10000000000095,"qpos":[-2.015113132941429,-1.6331339681048975,1.570398558398353,-1.50762815787305,-1.570822009495102,-0.444320585730247,0.4611777790424911,0.00029655291712149724,0.45827719815636797,-0.45086962756727245,0.46117733653469384,0.00029302879785782487,0.45821098458252857,-0.45106147169696015,0.07873078342917522,0.4777195716601345,0.3498328883283188,0.999999994124626,-5.350746411406384e-06,0.00010666921467868011,-1.8541703997902604e-05],"qvel":[-0.00772815581146883,-0.009497525256198886,0.22185125320754062,-0.20885243959011382,-5.138136676329273e-06,-0.0077854470062525905,-7.778119903729493e-05,6.075615562624889e-05,-2.6367929080484384e-05,-0.0001611400830139657,-0.00010152545574851608,3.0124625945578317e-05,-0.00030052543058584964,-0.00015497438853777248,0.003454426168628501,-0.0007115824376484412,-0.08298857663285046,-0.007164688143725063,0.0030154189882131968,0.0005714659696760115],"joint_position_rad":[-2.015113132941429,-1.6331339681048975,1.570398558398353,-1.50762815787305,-1.570822009495102,-0.444320585730247],"joint_velocity_rad_s":[-0.00772815581146883,-0.009497525256198886,0.22185125320754062,-0.20885243959011382,-5.138136676329273e-06,-0.0077854470062525905],"linkage_position_rad":[0.4611777790424911,0.00029655291712149724,0.45827719815636797,-0.45086962756727245,0.46117733653469384,0.00029302879785782487,0.45821098458252857,-0.45106147169696015],"tcp_position_m":[0.07873887513983405,0.47712307608186905,0.3559073967627947],"tcp_quaternion_wxyz":[8.448157982635123e-05,0.7071054263241855,0.7071081028229401,-0.00019961937982974781],"object_position_m":[0.07873078342917522,0.4777195716601345,0.3498328883283188],"object_quaternion_wxyz":[0.999999994124626,-5.350746411406384e-06,0.00010666921467868011,-1.8541703997902604e-05],"object_linear_velocity_m_s":[0.003454426168628501,-0.0007115824376484412,-0.08298857663285046],"object_angular_velocity_rad_s":[-0.007164454241419562,0.0030156907984762384,0.0005729621771109959],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632513398114204,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10781541733249,"right":46.10800984155115},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.016657812285024,-1.6445210830617751,1.6035856649023874,-1.5540518780911436,-1.5708179533765312,-0.4458620066531895,180.0],"actuator_force":[0.001903637397390412,-18.975219811275565,-22.366288274947692,-2.32661615003542,0.0025418729530883866,0.007834239154021816,5.0],"issued_joint_targets_rad":[-2.0168249852432547,-1.6354163354214981,1.6184396697688825,-1.5535961469671098,-1.5708189469151033,-0.44602473175188556],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.10000000000095,"joint_targets_rad":[-2.0168249852432547,-1.6354163354214981,1.6184396697688825,-1.5535961469671098,-1.5708189469151033,-0.44602473175188556],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.120000000000939,"qpos":[-2.015275426896051,-1.6333458523899298,1.5749722623673843,-1.5119859969458125,-1.5708217614257183,-0.44448317540733134,0.4611777852675474,0.0002964868128782355,0.458277149018543,-0.4508692021664914,0.46117735409856686,0.00029308349666193545,0.45821106378707777,-0.45106185454486564,0.0788135338960767,0.4777206341813326,0.34812075033814416,0.9999999938737114,-7.919833108522946e-06,0.00010911445256055088,-1.6848998378789236e-05],"qvel":[-0.007733383549416686,-0.008641252035474577,0.2210075342698253,-0.20887841573390772,-5.650195110119284e-06,-0.0077861449855652675,-7.641006337835344e-05,6.0578125441305016e-05,-2.4708148884050018e-05,-0.00016214814377239878,-0.0001001116105185068,2.986815717224545e-05,-0.0002986101165486024,-0.00015478771611736032,0.0034597036490451785,-0.0007099158701856431,-0.08299756390267446,-0.00715102288147071,0.00300736801877294,0.0005542460147143157],"joint_position_rad":[-2.015275426896051,-1.6333458523899298,1.5749722623673843,-1.5119859969458125,-1.5708217614257183,-0.44448317540733134],"joint_velocity_rad_s":[-0.007733383549416686,-0.008641252035474577,0.2210075342698253,-0.20887841573390772,-5.650195110119284e-06,-0.0077861449855652675],"linkage_position_rad":[0.4611777852675474,0.0002964868128782355,0.458277149018543,-0.4508692021664914,0.46117735409856686,0.00029308349666193545,0.45821106378707777,-0.45106185454486564],"tcp_position_m":[0.07882166068892466,0.47712167682825796,0.3541946816283539],"tcp_quaternion_wxyz":[8.499771748872102e-05,0.7071053214665799,0.7071082070705272,-0.0002015503321278092],"object_position_m":[0.0788135338960767,0.4777206341813326,0.34812075033814416],"object_quaternion_wxyz":[0.9999999938737114,-7.919833108522946e-06,0.00010911445256055088,-1.6848998378789236e-05],"object_linear_velocity_m_s":[0.0034597036490451785,-0.0007099158701856431,-0.08299756390267446],"object_angular_velocity_rad_s":[-0.007150800417403356,0.0030076177812258186,0.0005557589126597719],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632512975266104,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107791997773674,"right":46.10799524953195},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0168205386895925,-1.6445627320303093,1.6079889866400547,-1.5584147541885796,-1.5708178129105663,-0.44602473453168323,180.0],"actuator_force":[0.0031298326834985346,-18.977258466568856,-22.369565162589424,-2.3265370479927014,0.002539277086953007,0.00783493638056143,5.0],"issued_joint_targets_rad":[-2.0169877857011094,-1.6354418407007554,1.6228284282178769,-1.5579601297205894,-1.5708188074018776,-0.4461875317930163],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.120000000000939,"joint_targets_rad":[-2.0169877857011094,-1.6354418407007554,1.6228284282178769,-1.5579601297205894,-1.5708188074018776,-0.4461875317930163],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.140000000000928,"qpos":[-2.015437768112307,-1.6335399580053025,1.5795284802384841,-1.5163444127446168,-1.5708215235118286,-0.44464578491442813,0.46117779144823096,0.0002964231164653723,0.4582771019646773,-0.45086879292854015,0.4611773711986343,0.00029313595714000704,0.45821114038260946,-0.451062221887487,0.0788963884812209,0.4777218421736885,0.34640853132441596,0.9999999936208916,-1.0360220080293395e-05,0.00011143789661054549,-1.5247198700345418e-05],"qvel":[-0.007738750536589628,-0.007782986160110925,0.22016606222530968,-0.20890719850799244,-6.112535293026149e-06,-0.007787107314447224,-7.504951455693354e-05,6.0397764047478956e-05,-2.3062033312739337e-05,-0.00016312428430272828,-9.870790869166444e-05,2.961725993380777e-05,-0.00029670644157771487,-0.00015462898236515588,0.0034651954506559864,-0.0007079105566451543,-0.08300647302326282,-0.00713859474099597,0.0030001666494100018,0.0005375492223090501],"joint_position_rad":[-2.015437768112307,-1.6335399580053025,1.5795284802384841,-1.5163444127446168,-1.5708215235118286,-0.44464578491442813],"joint_velocity_rad_s":[-0.007738750536589628,-0.007782986160110925,0.22016606222530968,-0.20890719850799244,-6.112535293026149e-06,-0.007787107314447224],"linkage_position_rad":[0.46117779144823096,0.0002964231164653723,0.4582771019646773,-0.45086879292854015,0.4611773711986343,0.00029313595714000704,0.45821114038260946,-0.451062221887487],"tcp_position_m":[0.07890454840176064,0.4771204171967013,0.35248190005890273],"tcp_quaternion_wxyz":[8.547052704526479e-05,0.7071052263276204,0.7071083016380278,-0.0002033458551104721],"object_position_m":[0.0788963884812209,0.4777218421736885,0.34640853132441596],"object_quaternion_wxyz":[0.9999999936208916,-1.0360220080293395e-05,0.00011143789661054549,-1.5247198700345418e-05],"object_linear_velocity_m_s":[0.0034651954506559864,-0.0007079105566451543,-0.08300647302326282],"object_angular_velocity_rad_s":[-0.007138383272152567,0.0030003954874275682,0.0005390780515741995],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632512559501024,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107768690163525,"right":46.10798071812362},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0169833373347155,-1.6445864119541278,1.6123754552970635,-1.5627787628620162,-1.5708176727615002,-0.44618753457781385,180.0],"actuator_force":[0.004361769818387984,-18.97971343360632,-22.372474772965234,-2.3264552079004943,0.0025366286935195603,0.007835899751881925,5.0],"issued_joint_targets_rad":[-2.017150662172273,-1.6354491272477567,1.6272001933041902,-1.5623253305043348,-1.5708186682016398,-0.446350407713369],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.140000000000928,"joint_targets_rad":[-2.017150662172273,-1.6354491272477567,1.6272001933041902,-1.5623253305043348,-1.5708186682016398,-0.446350407713369],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.160000000000917,"qpos":[-2.015600159288124,-1.633716242988107,1.584067258620881,-1.5207034654559122,-1.5708212948035267,-0.44480841960680145,0.4611777975749272,0.0002963617465144662,0.45827705691036524,-0.45086839928692163,0.46117738784008216,0.0002931862637781529,0.4582112144523793,-0.45106257429983304,0.07897935192845476,0.4777232033255701,0.34469623180302633,0.99999999336734,-1.2684321749649323e-05,0.00011364807210646963,-1.373110693510899e-05],"qvel":[-0.007744261894568793,-0.006922687142443217,0.21932678295540756,-0.20893891858171798,-6.530118622470822e-06,-0.007788325689304743,-7.36991661392953e-05,6.021512323496538e-05,-2.142904551458722e-05,-0.00016406944989903586,-9.731395773472331e-05,2.9371763864130125e-05,-0.0002948140128647429,-0.00015449745916275927,0.0034709200780553575,-0.0007055379164875026,-0.08301530259059756,-0.007127278651918721,0.0029937430050281204,0.0005213422330975617],"joint_position_rad":[-2.015600159288124,-1.633716242988107,1.584067258620881,-1.5207034654559122,-1.5708212948035267,-0.44480841960680145],"joint_velocity_rad_s":[-0.007744261894568793,-0.006922687142443217,0.21932678295540756,-0.20893891858171798,-6.530118622470822e-06,-0.007788325689304743],"linkage_position_rad":[0.4611777975749272,0.0002963617465144662,0.45827705691036524,-0.45086839928692163,0.46117738784008216,0.0002931862637781529,0.4582112144523793,-0.45106257429983304],"tcp_position_m":[0.0789875431474212,0.4771193048474034,0.3507690524548966],"tcp_quaternion_wxyz":[8.590436692688195e-05,0.7071051399660265,0.7071083874633958,-0.00020501946443415828],"object_position_m":[0.07897935192845476,0.4777232033255701,0.34469623180302633],"object_quaternion_wxyz":[0.99999999336734,-1.2684321749649323e-05,0.00011364807210646963,-1.373110693510899e-05],"object_linear_velocity_m_s":[0.0034709200780553575,-0.0007055379164875026,-0.08301530259059756],"object_angular_velocity_rad_s":[-0.007127077759681809,0.002993951978451914,0.0005228862633833903],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632512150859359,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1077454875294,"right":46.10796625072449},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.017146211928169,-1.6445920735888826,1.6167451068667613,-1.5671439900138064,-1.5708175329595107,-0.4463504105028997,180.0],"actuator_force":[0.0055994777376326965,-18.98258634457443,-22.375016690402845,-2.3263704207753335,0.0025339338703815883,0.007837120881362125,5.0],"issued_joint_targets_rad":[-2.0173136187103897,-1.635438140571662,1.6315549957372526,-1.5666918345514695,-1.5708185293412453,-0.44651336357010185],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.160000000000917,"joint_targets_rad":[-2.0173136187103897,-1.635438140571662,1.6315549957372526,-1.5666918345514695,-1.5708185293412453,-0.44651336357010185],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.180000000000906,"qpos":[-2.015762603229927,-1.6338746642421094,1.5885886426624212,-1.5250632176700454,-1.5708210744436577,-0.44497108471368463,0.4611778036398446,0.00029630262394517956,0.45827701377515395,-0.45086802069369336,0.46117740402947166,0.0002932344982701776,0.45821128607850853,-0.45106291233946144,0.07906242938482076,0.477724725978773,0.3429838523369431,0.9999999931139933,-1.4903375072367903e-05,0.00011575281708797638,-1.2295821139256424e-05],"qvel":[-0.007749924042256385,-0.00606029759188892,0.21848962339512412,-0.2089736906892725,-6.907406059503184e-06,-0.007789794190064699,-7.235874281494073e-05,6.0030240660507527e-05,-1.980874861857982e-05,-0.00016498436826216964,-9.59294741560423e-05,2.9131488814812225e-05,-0.0002929325367064522,-0.0001543922137825208,0.0034768981167601905,-0.0007027661358190034,-0.08302405124711344,-0.007116961510098372,0.0029880316533588496,0.0005055935494375273],"joint_position_rad":[-2.015762603229927,-1.6338746642421094,1.5885886426624212,-1.5250632176700454,-1.5708210744436577,-0.44497108471368463],"joint_velocity_rad_s":[-0.007749924042256385,-0.00606029759188892,0.21848962339512412,-0.2089736906892725,-6.907406059503184e-06,-0.007789794190064699],"linkage_position_rad":[0.4611778036398446,0.00029630262394517956,0.45827701377515395,-0.45086802069369336,0.46117740402947166,0.0002932344982701776,0.45821128607850853,-0.45106291233946144],"tcp_position_m":[0.07907065018861198,0.47711834807970677,0.3490561392496161],"tcp_quaternion_wxyz":[8.63031743994017e-05,0.7071050615235596,0.7071084654017609,-0.0002065833754944639],"object_position_m":[0.07906242938482076,0.477724725978773,0.3429838523369431],"object_quaternion_wxyz":[0.9999999931139933,-1.4903375072367903e-05,0.00011575281708797638,-1.2295821139256424e-05],"object_linear_velocity_m_s":[0.0034768981167601905,-0.0007027661358190034,-0.08302405124711344],"object_angular_velocity_rad_s":[-0.007116770798994637,0.002988221762114708,0.0005071520777145342],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463251174935974,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10772238247089,"right":46.10795185015495},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.017309166525053,-1.6445796632683627,1.6210979721319394,-1.5715105207944362,-1.570817393528724,-0.44651336636412986,180.0],"actuator_force":[0.006843026650585671,-18.985879015750925,-22.377190419013004,-2.326282493268195,0.002531198072801999,0.007838593783844772,5.0],"issued_joint_targets_rad":[-2.0174766597672122,-1.635408821281306,1.6358928605699852,-1.5710597263588222,-1.570818390841617,-0.4466764038172156],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.180000000000906,"joint_targets_rad":[-2.0174766597672122,-1.635408821281306,1.6358928605699852,-1.5710597263588222,-1.570818390841617,-0.4466764038172156],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.200000000000895,"qpos":[-2.015925102879293,-1.6340151771801819,1.5930926756539538,-1.5294237340789734,-1.5708208616582375,-0.44513378538816295,0.4611778096353903,0.00029624567186721816,0.45827697248093224,-0.45086765661684286,0.46117741977311927,0.0002932807395124721,0.45821135534047097,-0.45106323654447844,0.0791456264480587,0.4777264192055528,0.3412713935376166,0.9999999928615936,-1.702755473521809e-05,0.00011775934388849392,-1.0936714769360209e-05],"qvel":[-0.007755744820228183,-0.005195742684270363,0.2176544913158996,-0.2090116152893495,-7.248408704287563e-06,-0.007791509285659905,-7.10279832630442e-05,5.984314632484335e-05,-1.8200712604164345e-05,-0.0001658697104942664,-9.455418518403124e-05,2.8896256281744693e-05,-0.000291061719439897,-0.00015431231392728397,0.0034831525670024253,-0.0006995596462364117,-0.08303271765425806,-0.007107541004646908,0.0029829729908827447,0.0004902733705935049],"joint_position_rad":[-2.015925102879293,-1.6340151771801819,1.5930926756539538,-1.5294237340789734,-1.5708208616582375,-0.44513378538816295],"joint_velocity_rad_s":[-0.007755744820228183,-0.005195742684270363,0.2176544913158996,-0.2090116152893495,-7.248408704287563e-06,-0.007791509285659905],"linkage_position_rad":[0.4611778096353903,0.00029624567186721816,0.45827697248093224,-0.45086765661684286,0.46117741977311927,0.0002932807395124721,0.45821135534047097,-0.45106323654447844],"tcp_position_m":[0.07915387522994113,0.47711755590875893,0.3473431609105372],"tcp_quaternion_wxyz":[8.667050619170285e-05,0.707104990216805,0.7071085362336413,-0.00020804862923433923],"object_position_m":[0.0791456264480587,0.4777264192055528,0.3412713935376166],"object_quaternion_wxyz":[0.9999999928615936,-1.702755473521809e-05,0.00011775934388849392,-1.0936714769360209e-05],"object_linear_velocity_m_s":[0.0034831525670024253,-0.0006995596462364117,-0.08303271765425806],"object_angular_velocity_rad_s":[-0.0071073601012132314,0.0029831451782894075,0.0004918457196287124],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632511355011224,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107699366360144,"right":46.107937517985526},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0174722055787417,-1.6445491224489723,1.6254340762278776,-1.5758784396264276,-1.5708172544876442,-0.4466764066155326,180.0],"actuator_force":[0.0080925291931635,-18.989593463873007,-22.378995378512627,-2.326191244792085,0.0025284261671458808,0.007840314881178756,5.0],"issued_joint_targets_rad":[-2.0176397902532126,-1.6353611045308745,1.6402138066707428,-1.5754290897127083,-1.5708182527181167,-0.44683953336614507],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.200000000000895,"joint_targets_rad":[-2.0176397902532126,-1.6353611045308745,1.6402138066707428,-1.5754290897127083,-1.5708182527181167,-0.44683953336614507],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.220000000000883,"qpos":[-2.016087661342356,-1.634137735349327,1.5975793986221087,-1.5337850812051737,-1.5708206557477948,-0.4452965267580383,0.46117781555408516,0.0002961908155601752,0.45827693295178995,-0.4508673065399769,0.4611774350770192,0.00029332506368478476,0.45821142231507467,-0.4510635474340258,0.07922894922194108,0.4777282928985416,0.3395588560673855,0.9999999926107181,-1.9066077541714447e-05,0.00011967429494250288,-9.649417043444243e-06],"qvel":[-0.007761733651623091,-0.004328929253868486,0.2168212747083019,-0.20905278007363198,-7.556733160723076e-06,-0.00779346988315915,-6.970660269853524e-05,5.96538617659636e-05,-1.6604476336624643e-05,-0.00016672613044733427,-9.318779079532588e-05,2.866588886671935e-05,-0.00028920122908192275,-0.00015425686710381772,0.0034897092471994407,-0.0006958784957589992,-0.0830413004615395,-0.007098924554819083,0.0029785126938895014,0.00047535343308569716],"joint_position_rad":[-2.016087661342356,-1.634137735349327,1.5975793986221087,-1.5337850812051737,-1.5708206557477948,-0.4452965267580383],"joint_velocity_rad_s":[-0.007761733651623091,-0.004328929253868486,0.2168212747083019,-0.20905278007363198,-7.556733160723076e-06,-0.00779346988315915],"linkage_position_rad":[0.46117781555408516,0.0002961908155601752,0.45827693295178995,-0.4508673065399769,0.4611774350770192,0.00029332506368478476,0.45821142231507467,-0.4510635474340258],"tcp_position_m":[0.07923722447397354,0.47711693815475553,0.34563011794139437],"tcp_quaternion_wxyz":[8.700957519819433e-05,0.707104925329581,0.7071086006725301,-0.00020942520586878028],"object_position_m":[0.07922894922194108,0.4777282928985416,0.3395588560673855],"object_quaternion_wxyz":[0.9999999926107181,-1.9066077541714447e-05,0.00011967429494250288,-9.649417043444243e-06],"object_linear_velocity_m_s":[0.0034897092471994407,-0.0006958784957589992,-0.0830413004615395],"object_angular_velocity_rad_s":[-0.00709875310657881,0.00297866784968387,0.00047693895009518785],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632510967815327,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10767642974611,"right":46.10792325506564},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0176353340014948,-1.6445003871631656,1.6297534381145045,-1.5802478302292684,-1.5708171158495008,-0.44683953616856786,180.0],"actuator_force":[0.0093481423718913,-18.993731926130295,-22.38043089852954,-2.3260965046841875,0.002525622463167565,0.007842283051161303,5.0],"issued_joint_targets_rad":[-2.0178030156102515,-1.6352949193520319,1.644517846082772,-1.5798000077162013,-1.5708181149808327,-0.4470027576583875],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.220000000000883,"joint_targets_rad":[-2.0178030156102515,-1.6352949193520319,1.644517846082772,-1.5798000077162013,-1.5708181149808327,-0.4470027576583875],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.240000000000872,"qpos":[-2.0162502819227472,-1.6342422900293767,1.6020488499010794,-1.538147327158835,-1.5708204560795367,-0.44545931397872357,0.46117782138857416,0.0002961379824359637,0.4582768951139647,-0.4508669699620147,0.46117744994685944,0.0002933675443133444,0.45821148707653697,-0.4510638455087468,0.07931240438115968,0.47773035787633283,0.33784624064306634,0.9999999923618096,-2.102729709902892e-05,0.00012150379346416611,-8.429794155598838e-06],"qvel":[-0.007767901748053074,-0.003459744440980334,0.215989840702488,-0.20909726134211357,-7.835622265397378e-06,-0.00779567742743882,-6.839429577534871e-05,5.946239740831426e-05,-1.5019548103010945e-05,-0.00016755424705414875,-9.182996585738643e-05,2.8440208804776267e-05,-0.00028735069545053946,-0.00015422500925763583,0.003496597285895865,-0.0006916775836132406,-0.08304979827174838,-0.00709102834494178,0.00297460122102628,0.0004608068541195496],"joint_position_rad":[-2.0162502819227472,-1.6342422900293767,1.6020488499010794,-1.538147327158835,-1.5708204560795367,-0.44545931397872357],"joint_velocity_rad_s":[-0.007767901748053074,-0.003459744440980334,0.215989840702488,-0.20909726134211357,-7.835622265397378e-06,-0.00779567742743882],"linkage_position_rad":[0.46117782138857416,0.0002961379824359637,0.4582768951139647,-0.4508669699620147,0.46117744994685944,0.0002933675443133444,0.45821148707653697,-0.4510638455087468],"tcp_position_m":[0.07932070468676812,0.4771165055474941,0.3439170108850558],"tcp_quaternion_wxyz":[8.732328363105032e-05,0.7071048662058799,0.7071086593719473,-0.00021072212768563493],"object_position_m":[0.07931240438115968,0.47773035787633283,0.33784624064306634],"object_quaternion_wxyz":[0.9999999923618096,-2.102729709902892e-05,0.00012150379346416611,-8.429794155598838e-06],"object_linear_velocity_m_s":[0.003496597285895865,-0.0006916775836132406,-0.08304979827174838],"object_angular_velocity_rad_s":[-0.007090866019485678,0.002974740184125609,0.00046240490952627203],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632510587766428,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10765356217798,"right":46.10790906148577},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.017798557237128,-1.644433387359902,1.634056069936048,-1.5846187756459058,-1.5708169776225123,-0.4470027604647553,180.0],"actuator_force":[0.010610070459733834,-18.998296884657975,-22.381496211057765,-2.3259981093240185,0.002522790738680669,0.007844499728037135,5.0],"issued_joint_targets_rad":[-2.017966341899457,-1.6352101878436818,1.648804983242981,-1.5841725628185157,-1.5708179776347717,-0.44716608275330666],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.240000000000872,"joint_targets_rad":[-2.017966341899457,-1.6352101878436818,1.648804983242981,-1.5841725628185157,-1.5708179776347717,-0.44716608275330666],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.260000000000861,"qpos":[-2.016412968159064,-1.634328789794619,1.6065010646723017,-1.5425105414207372,-1.5708202620802394,-0.44562215228941415,0.46117782713151745,0.00029608710198888625,0.45827685889566594,-0.4508666463966584,0.4611774643879198,0.0002934082523296902,0.45821154969644695,-0.45106413125106987,0.0793959992479156,0.47773262600826133,0.33613354804093915,0.9999999921151982,-2.291878981850345e-05,0.00012325348946478986,-7.273931143524496e-06],"qvel":[-0.007774262371845836,-0.0025880538031652135,0.21516003393988603,-0.2091451252620401,-8.087991591716524e-06,-0.007798136060956937,-6.709073424025187e-05,5.926875023449401e-05,-1.344540117212483e-05,-0.0001683546352014804,-9.048035685572676e-05,2.821903708244742e-05,-0.00028550970429161774,-0.00015421590076066273,0.003503849725753734,-0.0006869057219429684,-0.08305820960164143,-0.007083776446756742,0.0029711933607199726,0.00044660797552144527],"joint_position_rad":[-2.016412968159064,-1.634328789794619,1.6065010646723017,-1.5425105414207372,-1.5708202620802394,-0.44562215228941415],"joint_velocity_rad_s":[-0.007774262371845836,-0.0025880538031652135,0.21516003393988603,-0.2091451252620401,-8.087991591716524e-06,-0.007798136060956937],"linkage_position_rad":[0.46117782713151745,0.00029608710198888625,0.45827685889566594,-0.4508666463966584,0.4611774643879198,0.0002934082523296902,0.45821154969644695,-0.45106413125106987],"tcp_position_m":[0.07940432327505408,0.4771162698496874,0.34220384032735945],"tcp_quaternion_wxyz":[8.761425296111568e-05,0.7071048122432481,0.7071087129320482,-0.00021194755199430515],"object_position_m":[0.0793959992479156,0.47773262600826133,0.33613354804093915],"object_quaternion_wxyz":[0.9999999921151982,-2.291878981850345e-05,0.00012325348946478986,-7.273931143524496e-06],"object_linear_velocity_m_s":[0.003503849725753734,-0.0006869057219429684,-0.08305820960164143],"object_angular_velocity_rad_s":[-0.007083622930925679,0.002971316921736085,0.0004482179617999225],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632510214852798,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1076307519549,"right":46.10789493648581},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0179618813488953,-1.6443480461035254,1.6383419762399754,-1.588991358271421,-1.5708168398100621,-0.447166085563479,180.0],"actuator_force":[0.011878569075634005,-19.00329109654649,-22.382190440607246,-2.3258958991378904,0.0025199342477435493,0.007846969063280085,5.0],"issued_joint_targets_rad":[-2.018129775908469,-1.635106824181423,1.6530752140228502,-1.5885468368473856,-1.5708178406799538,-0.4473295154352656],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.260000000000861,"joint_targets_rad":[-2.018129775908469,-1.635106824181423,1.6530752140228502,-1.5885468368473856,-1.5708178406799538,-0.4473295154352656],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.28000000000085,"qpos":[-2.0165757238680975,-1.634397180025143,1.6109360744585595,-1.5468747946485317,-1.5708200732297766,-0.4457850470740534,0.46117783277545715,0.00029603810573767105,0.45827682422686405,-0.4508663353717938,0.4611774784049457,0.00029344725612980325,0.4582116102437064,-0.45106440512546725,0.07947974188297337,0.47773511036292016,0.3344207791034151,0.99999999187112,-2.4747433194101754e-05,0.00012492860159538877,-6.178114184696273e-06],"qvel":[-0.0077808311698388975,-0.0017136987644956658,0.21433167427607286,-0.2091964290273077,-8.31646211667558e-06,-0.007800852856937618,-6.579556054768942e-05,5.9072900814237934e-05,-1.1881463940877698e-05,-0.00016912781899208987,-8.91385743145486e-05,2.8002192618036857e-05,-0.00028367778594716464,-0.0001542287296644739,0.0035115042708494105,-0.0006815044749567739,-0.0830665328360776,-0.007077100019072437,0.00296824781979517,0.00043273220499962623],"joint_position_rad":[-2.0165757238680975,-1.634397180025143,1.6109360744585595,-1.5468747946485317,-1.5708200732297766,-0.4457850470740534],"joint_velocity_rad_s":[-0.0077808311698388975,-0.0017136987644956658,0.21433167427607286,-0.2091964290273077,-8.31646211667558e-06,-0.007800852856937618],"linkage_position_rad":[0.46117783277545715,0.00029603810573767105,0.45827682422686405,-0.4508663353717938,0.4611774784049457,0.00029344725612980325,0.4582116102437064,-0.45106440512546725],"tcp_position_m":[0.0794880883778002,0.4771162440034761,0.340490606902099],"tcp_quaternion_wxyz":[8.788485095263934e-05,0.7071047628865084,0.7071087619058916,-0.00021310885518099104],"object_position_m":[0.07947974188297337,0.47773511036292016,0.3344207791034151],"object_quaternion_wxyz":[0.99999999187112,-2.4747433194101754e-05,0.00012492860159538877,-6.178114184696273e-06],"object_linear_velocity_m_s":[0.0035115042708494105,-0.0006815044749567739,-0.0830665328360776],"object_angular_velocity_rad_s":[-0.007076955018241487,0.0029683567233106914,0.0004343535355911914],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325098490579,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107607985828736,"right":46.107880878342584},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0181253131267467,-1.644244278593397,1.6426111530180607,-1.5933656598847603,-1.5708167024107789,-0.44732951824912026,180.0],"actuator_force":[0.013153950636933587,-19.008717630709725,-22.382512591426348,-2.325789715383621,0.0025170557105411717,0.00784969816032799,5.0],"issued_joint_targets_rad":[-2.0182933252836115,-1.6349847333961491,1.6573285245419607,-1.5929229110455358,-1.5708177041113935,-0.4474930633456363],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.28000000000085,"joint_targets_rad":[-2.0182933252836115,-1.6349847333961491,1.6573285245419607,-1.5929229110455358,-1.5708177041113935,-0.4474930633456363],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.30000000000084,"qpos":[-2.016738553195409,-1.6344474023512994,1.6153539065557176,-1.5512401585044187,-1.570819889055182,-0.4459480039289937,0.4611778383126581,0.00029599092715931985,0.45827679103904384,-0.45086603642881484,0.4611774920019951,0.0002934846216334665,0.45821166878445324,-0.4510646675786613,0.0795636411947508,0.47773782538629833,0.3327079347477807,0.999999991629734,-2.6519477242269254e-05,0.00012653395520265972,-5.138813035286093e-06],"qvel":[-0.007787626599439033,-0.0008364932304052023,0.21350455364911952,-0.2092512219349987,-8.523389448098442e-06,-0.007803838144388905,-6.450837998779053e-05,5.887480980251889e-05,-1.03271081056342e-05,-0.00016987426234840155,-8.780418345926394e-05,2.778949045659824e-05,-0.00028185440274851217,-0.00015426271120400566,0.003519604220881655,-0.0006754067090682457,-0.08307476617298515,-0.007070936574950079,0.002965726848641781,0.0004191558509702644],"joint_position_rad":[-2.016738553195409,-1.6344474023512994,1.6153539065557176,-1.5512401585044187,-1.570819889055182,-0.4459480039289937],"joint_velocity_rad_s":[-0.007787626599439033,-0.0008364932304052023,0.21350455364911952,-0.2092512219349987,-8.523389448098442e-06,-0.007803838144388905],"linkage_position_rad":[0.4611778383126581,0.00029599092715931985,0.45827679103904384,-0.45086603642881484,0.4611774920019951,0.0002934846216334665,0.45821166878445324,-0.4510646675786613],"tcp_position_m":[0.07957200897575928,0.47711644230589817,0.3387773112974358],"tcp_quaternion_wxyz":[8.81372160541695e-05,0.7071047176217148,0.7071088068054739,-0.00021421270874418333],"object_position_m":[0.0795636411947508,0.47773782538629833,0.3327079347477807],"object_quaternion_wxyz":[0.999999991629734,-2.6519477242269254e-05,0.00012653395520265972,-5.138813035286093e-06],"object_linear_velocity_m_s":[0.003519604220881655,-0.0006754067090682457,-0.08307476617298515],"object_angular_velocity_rad_s":[-0.007070799812416987,0.002965821795252625,0.0004207879592531793],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632509490361659,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10758524866738,"right":46.107866884251514},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0182888602195166,-1.644121990954076,1.6468635865200627,-1.5977417616846088,-1.5708165654185064,-0.4474930661630677,180.0],"actuator_force":[0.014436591560752277,-19.01457991339157,-22.3824615309577,-2.3256793965952056,0.0025141572826896663,0.007852697401858677,5.0],"issued_joint_targets_rad":[-2.018456998694525,-1.6348438098535487,1.6615648896871833,-1.5973008661127057,-1.5708175679189567,-0.44765673514721827],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.30000000000084,"joint_targets_rad":[-2.018456998694525,-1.6348438098535487,1.6615648896871833,-1.5973008661127057,-1.5708175679189567,-0.44765673514721827],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.320000000000828,"qpos":[-2.016901460675326,-1.6344793940099884,1.6197545833807157,-1.5556067055024916,-1.5708197091251814,-0.44611102873978126,0.46117784373491433,0.00029594550161315676,0.4582767592649102,-0.4508657491218515,0.4611775051822516,0.0002935204123409127,0.4582117253819519,-0.45106491903978113,0.07964770707113648,0.47774078711728096,0.3309950159775508,0.9999999913911353,-2.8240609986907404e-05,0.00012807401699566992,-4.1526632722507106e-06],"qvel":[-0.007794670475433003,4.378087044823908e-05,0.2126784318825583,-0.20930954639669822,-8.710889807593948e-06,-0.007807105950728813,-6.32287509758528e-05,5.867441312469439e-05,-8.781633597482785e-06,-0.00017059435738179038,-8.64766926035464e-05,2.75807401285246e-05,-0.00028003893170430467,-0.000154317089489481,0.003528199650948074,-0.0006685347629365593,-0.08308290755559715,-0.007065229306919237,0.0029635958977782956,0.0004058559459631949],"joint_position_rad":[-2.016901460675326,-1.6344793940099884,1.6197545833807157,-1.5556067055024916,-1.5708197091251814,-0.44611102873978126],"joint_velocity_rad_s":[-0.007794670475433003,4.378087044823908e-05,0.2126784318825583,-0.20930954639669822,-8.710889807593948e-06,-0.007807105950728813],"linkage_position_rad":[0.46117784373491433,0.00029594550161315676,0.4582767592649102,-0.4508657491218515,0.4611775051822516,0.0002935204123409127,0.4582117253819519,-0.45106491903978113],"tcp_position_m":[0.07965609502368215,0.47711688062084656,0.33706395426410096],"tcp_quaternion_wxyz":[8.837327940224609e-05,0.707104675970209,0.7071088481076623,-0.0002152651480925305],"object_position_m":[0.07964770707113648,0.47774078711728096,0.3309950159775508],"object_quaternion_wxyz":[0.9999999913911353,-2.8240609986907404e-05,0.00012807401699566992,-4.1526632722507106e-06],"object_linear_velocity_m_s":[0.003528199650948074,-0.0006685347629365593,-0.08308290755559715],"object_angular_velocity_rad_s":[-0.007065100523403895,0.00296367754590031,0.0004074982842625686],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463250913874198,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10756252296322,"right":46.10785295009751},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01845253129958,-1.6439810787282412,1.6510992517730612,-1.6021197443308606,-1.5708164288221547,-0.4476567379681356,180.0],"actuator_force":[0.01572694166634392,-19.02088178468466,-22.382035968332275,-2.325564774514646,0.0025112404940728084,0.007855980895726589,5.0],"issued_joint_targets_rad":[-2.018620806041654,-1.6346839353409934,1.6657842712457773,-1.6016807822551933,-1.57081743208705,-0.44782054073142386],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.320000000000828,"joint_targets_rad":[-2.018620806041654,-1.6346839353409934,1.6657842712457773,-1.6016807822551933,-1.57081743208705,-0.44782054073142386],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.340000000000817,"qpos":[-2.017064451303067,-1.6344930870849357,1.6241381217080257,-1.5599745088742947,-1.5708195330450823,-0.4462741277702424,0.46117784903329745,0.0002959017662521186,0.45827672883801374,-0.4508654730168631,0.461177517947777,0.00029355468938875037,0.4582117800964316,-0.45106515992041984,0.07973195054027198,0.47774401345080214,0.3292820238971783,0.9999999911553628,-2.9916017810150696e-05,0.00012955292668025752,-3.2164478764174677e-06],"qvel":[-0.007801988677530953,0.0009273794508002838,0.21185303109912532,-0.20937143890386678,-8.880863010986777e-06,-0.007810674598295273,-6.195617280104062e-05,5.847161588337238e-05,-7.244249789591119e-06,-0.0001712884084618539,-8.515553832254036e-05,2.7375743298640074e-05,-0.0002782306425870538,-0.00015439113664048355,0.003537348918751744,-0.0006607981112882219,-0.0830909545868377,-0.007059926459576788,0.002961823302039209,0.0003928100521278255],"joint_position_rad":[-2.017064451303067,-1.6344930870849357,1.6241381217080257,-1.5599745088742947,-1.5708195330450823,-0.4462741277702424],"joint_velocity_rad_s":[-0.007801988677530953,0.0009273794508002838,0.21185303109912532,-0.20937143890386678,-8.880863010986777e-06,-0.007810674598295273],"linkage_position_rad":[0.46117784903329745,0.0002959017662521186,0.45827672883801374,-0.4508654730168631,0.461177517947777,0.00029355468938875037,0.4582117800964316,-0.45106515992041984],"tcp_position_m":[0.0797403576114258,0.47711757663755905,0.33535053662588066],"tcp_quaternion_wxyz":[8.859478463484753e-05,0.7071046374826181,0.7071088862601841,-0.0002162716348276582],"object_position_m":[0.07973195054027198,0.47774401345080214,0.3292820238971783],"object_quaternion_wxyz":[0.9999999911553628,-2.9916017810150696e-05,0.00012955292668025752,-3.2164478764174677e-06],"object_linear_velocity_m_s":[0.003537348918751744,-0.0006607981112882219,-0.0830909545868377],"object_angular_velocity_rad_s":[-0.007059805412843145,0.0029618922694688637,0.00039446209074991024],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325087941766235,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107539788218894,"right":46.10783907017175},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.018616336270374,-1.6438214249794132,1.655318110714716,-1.6064996879936446,-1.5708162926053877,-0.44782054355574985,180.0],"actuator_force":[0.01702553639825055,-19.027627569274955,-22.381234426269657,-2.3254456692882286,0.0025083061483428537,0.007859567075797713,5.0],"issued_joint_targets_rad":[-2.018784758721088,-1.63450497663169,1.6699866155246712,-1.6060627392456217,-1.5708172965941252,-0.44798449148272124],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.340000000000817,"joint_targets_rad":[-2.018784758721088,-1.63450497663169,1.6699866155246712,-1.6060627392456217,-1.5708172965941252,-0.44798449148272124],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.360000000000806,"qpos":[-2.0172275306226646,-1.6344884075938668,1.6285045317576459,-1.5643436424514199,-1.5708193604519285,-0.446437307768113,0.4611778541978136,0.0002958596599198789,0.4582766996922647,-0.45086520769052846,0.46117753029917224,0.00029358751160211527,0.45821183298484386,-0.45106539061454975,0.07981638396869944,0.4777475244625524,0.32756895973115524,0.9999999909224139,-3.15504415569627e-05,0.00013097452587417673,-2.3270775569706642e-06],"qvel":[-0.007809612075008194,0.0018146040082921229,0.21102802828546927,-0.2094369309698465,-9.035012643617231e-06,-0.00781456750649234,-6.069006870580258e-05,5.82662842496333e-05,-5.714048668568077e-06,-0.0001719566107894036,-8.384006524483786e-05,2.717429009775472e-05,-0.00027642866911245945,-0.00015448415480321157,0.003547120614348217,-0.0006520903445477518,-0.08309890441874856,-0.0070549807391946315,0.0029603799870134722,0.0003799960397694988],"joint_position_rad":[-2.0172275306226646,-1.6344884075938668,1.6285045317576459,-1.5643436424514199,-1.5708193604519285,-0.446437307768113],"joint_velocity_rad_s":[-0.007809612075008194,0.0018146040082921229,0.21102802828546927,-0.2094369309698465,-9.035012643617231e-06,-0.00781456750649234],"linkage_position_rad":[0.4611778541978136,0.0002958596599198789,0.4582766996922647,-0.45086520769052846,0.46117753029917224,0.00029358751160211527,0.45821183298484386,-0.45106539061454975],"tcp_position_m":[0.07982480916236294,0.4771185501891537,0.33363705929307774],"tcp_quaternion_wxyz":[8.880330570656887e-05,0.7071046017325912,0.7071089216878842,-0.000217237113156553],"object_position_m":[0.07981638396869944,0.4777475244625524,0.32756895973115524],"object_quaternion_wxyz":[0.9999999909224139,-3.15504415569627e-05,0.00013097452587417673,-2.3270775569706642e-06],"object_linear_velocity_m_s":[0.003547120614348217,-0.0006520903445477518,-0.08309890441874856],"object_angular_velocity_rad_s":[-0.007054867203813007,0.00296043685222258,0.00038165726604341504],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632508456645683,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107517020184865,"right":46.107825236819586},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.018780286531286,-1.6436428978751239,1.6595201098127244,-1.6108816724125978,-1.5708161567461316,-0.4479844943103908,180.0],"actuator_force":[0.01833301276064958,-19.034822165830974,-22.380055204031123,-2.3253218836043743,0.0025053541628494713,0.00786347951034827,5.0],"issued_joint_targets_rad":[-2.0189488699674563,-1.6343067823417203,1.6741718502748644,-1.6104468164967012,-1.5708171614119126,-0.4481486006209885],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.360000000000806,"joint_targets_rad":[-2.0189488699674563,-1.6343067823417203,1.6741718502748644,-1.6104468164967012,-1.5708171614119126,-0.4481486006209885],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.380000000000795,"qpos":[-2.0173907048356696,-1.6344652743721901,1.632853816084585,-1.5687141805642586,-1.5708191910098093,-0.44660057609299847,0.46117785921694876,0.0002958191230286728,0.45827667176129877,-0.45086495272890786,0.461177542235123,0.0002936189355434054,0.45821188410051494,-0.4510656114982634,0.07990102130839379,0.477751342814309,0.32585582484897624,0.9999999906922463,-3.314822932850884e-05,0.00013234238463451125,-1.4815689605206963e-06],"qvel":[-0.007817577750188412,0.002705811927959884,0.2102030453442994,-0.20950605007620107,-9.174863324621861e-06,-0.007818814274678156,-5.942976390760427e-05,5.805823447902427e-05,-4.189970750037287e-06,-0.00017259902162258773,-8.252949952815202e-05,2.6976155099125902e-05,-0.000274631969671963,-0.00015459547610065352,0.00355759611848599,-0.0006422852089445992,-0.0831067536062795,-0.007050348746911248,0.0029592391928395666,0.00036739182631650687],"joint_position_rad":[-2.0173907048356696,-1.6344652743721901,1.632853816084585,-1.5687141805642586,-1.5708191910098093,-0.44660057609299847],"joint_velocity_rad_s":[-0.007817577750188412,0.002705811927959884,0.2102030453442994,-0.20950605007620107,-9.174863324621861e-06,-0.007818814274678156],"linkage_position_rad":[0.46117785921694876,0.0002958191230286728,0.45827667176129877,-0.45086495272890786,0.461177542235123,0.0002936189355434054,0.45821188410051494,-0.4510656114982634],"tcp_position_m":[0.07990946368058953,0.4771198236497335,0.33192352327992053],"tcp_quaternion_wxyz":[8.900026285742107e-05,0.70710456830998,0.707108954799527,-0.0002181660610276488],"object_position_m":[0.07990102130839379,0.477751342814309,0.32585582484897624],"object_quaternion_wxyz":[0.9999999906922463,-3.314822932850884e-05,0.00013234238463451125,-1.4815689605206963e-06],"object_linear_velocity_m_s":[0.00355759611848599,-0.0006422852089445992,-0.0831067536062795],"object_angular_velocity_rad_s":[-0.00705024251418765,0.0029592844959701508,0.0003690617436237774],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632508126134848,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10749418972019,"right":46.107811439839196},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0189443953206156,-1.6434453475671853,1.663705176989441,-1.6152657769701477,-1.5708160212158202,-0.44814860345194746,180.0],"actuator_force":[0.01965013018298123,-19.04247116117449,-22.37849632800726,-2.3251931953244593,0.0025023833269415263,0.007867747993344665,5.0],"issued_joint_targets_rad":[-2.019113155304941,-1.6340891788136123,1.678339880659328,-1.6148330931543677,-1.5708170265043193,-0.44831288365177935],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.380000000000795,"joint_targets_rad":[-2.019113155304941,-1.6340891788136123,1.678339880659328,-1.6148330931543677,-1.5708170265043193,-0.44831288365177935],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.400000000000784,"qpos":[-2.017553980937571,-1.6344235976833523,1.6371859682005168,-1.5730861979563666,-1.5708190244051659,-0.44676394087472676,0.46117786407702477,0.00029578009740957546,0.45827664497760295,-0.45086470772571235,0.46117755375175257,0.00029364901555847193,0.45821193349262634,-0.45106582292924213,0.07998587840871642,0.4777554942665038,0.32414262079809325,0.9999999904647863,-3.471338703551173e-05,0.00013365982589611493,-6.770195319331121e-07],"qvel":[-0.007825930640760266,0.0036014303409868317,0.20937763565993375,-0.20957882065965477,-9.30177510126783e-06,-0.007823452156587031,-5.8174455500841305e-05,5.7847217703725446e-05,-2.6707574880285783e-06,-0.00017321551964623926,-8.122291254886684e-05,2.6781091083990214e-05,-0.00027283927376763105,-0.00015472446306583252,0.0035688730116344466,-0.0006312313333566254,-0.0831144979096557,-0.007045990419439318,0.002958376208143768,0.0003549750578917486],"joint_position_rad":[-2.017553980937571,-1.6344235976833523,1.6371859682005168,-1.5730861979563666,-1.5708190244051659,-0.44676394087472676],"joint_velocity_rad_s":[-0.007825930640760266,0.0036014303409868317,0.20937763565993375,-0.20957882065965477,-9.30177510126783e-06,-0.007823452156587031],"linkage_position_rad":[0.46117786407702477,0.00029578009740957546,0.45827664497760295,-0.45086470772571235,0.46117755375175257,0.00029364901555847193,0.45821193349262634,-0.45106582292924213],"tcp_position_m":[0.07999433706296014,0.4771214224358911,0.3302099297273071],"tcp_quaternion_wxyz":[8.918693684398605e-05,0.7071045368130835,0.707108985995546,-0.00021906253651538126],"object_position_m":[0.07998587840871642,0.4777554942665038,0.32414262079809325],"object_quaternion_wxyz":[0.9999999904647863,-3.471338703551173e-05,0.00013365982589611493,-6.770195319331121e-07],"object_linear_velocity_m_s":[0.0035688730116344466,-0.0006312313333566254,-0.0831144979096557],"object_angular_velocity_rad_s":[-0.0070458912975512305,0.002958410451649866,0.00035665318465926326],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632507802640165,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10747126134495,"right":46.107797665734864},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019108678166671,-1.6432286021041487,1.6678732175900504,-1.6196520807841737,-1.570815885978311,-0.4483128864859836,180.0],"actuator_force":[0.02097779810492284,-19.050580977987465,-22.37655548490602,-2.3250593479381223,0.002499390937600765,0.007872410030273613,5.0],"issued_joint_targets_rad":[-2.0192776331511175,-1.6338519646330925,1.682490583877879,-1.6192216482181307,-1.570816891825843,-0.44847735896914875],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.400000000000784,"joint_targets_rad":[-2.0192776331511175,-1.6338519646330925,1.682490583877879,-1.6192216482181307,-1.570816891825843,-0.44847735896914875],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.420000000000773,"qpos":[-2.017717366891789,-1.6343632774569539,1.6415009708294916,-1.5774597697142627,-1.5708188603419118,-0.4469274112136006,0.4611778687612868,0.00029574252612849764,0.4582766192713007,-0.45086447228005655,0.4611775648416987,0.00029367780381526674,0.45821198120544215,-0.45106602524582956,0.08007097341610951,0.4777600083359383,0.32242934934799117,0.9999999902399319,-3.6249628023144805e-05,0.0001349299481289264,8.942279622489119e-08],"qvel":[-0.007834725781798984,0.004501975033198486,0.20855126571628316,-0.2096552651895564,-9.416954508987731e-06,-0.007828528093697289,-5.692316999200065e-05,5.763289855540365e-05,-1.1548847043658633e-06,-0.000173805747367986,-7.991916964908988e-05,2.658882051047371e-05,-0.0002710490070297638,-0.0001548705111412008,0.003581069698093074,-0.000618745083531286,-0.08312213202088109,-0.007041868454555632,0.0029577681057683155,0.000342722706866425],"joint_position_rad":[-2.017717366891789,-1.6343632774569539,1.6415009708294916,-1.5774597697142627,-1.5708188603419118,-0.4469274112136006],"joint_velocity_rad_s":[-0.007834725781798984,0.004501975033198486,0.20855126571628316,-0.2096552651895564,-9.416954508987731e-06,-0.007828528093697289],"linkage_position_rad":[0.4611778687612868,0.00029574252612849764,0.4582766192713007,-0.45086447228005655,0.4611775648416987,0.00029367780381526674,0.45821198120544215,-0.45106602524582956],"tcp_position_m":[0.08007944749873448,0.47712337564932267,0.3284962799329131],"tcp_quaternion_wxyz":[8.936448151325195e-05,0.7071045068393585,0.7071090156773242,-0.00021993021994337893],"object_position_m":[0.08007097341610951,0.4777600083359383,0.32242934934799117],"object_quaternion_wxyz":[0.9999999902399319,-3.6249628023144805e-05,0.0001349299481289264,8.942279622489119e-08],"object_linear_velocity_m_s":[0.003581069698093074,-0.000618745083531286,-0.08312213202088109],"object_angular_velocity_rad_s":[-0.007041776268952338,0.0029577917546230376,0.00034440857549039995],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632507486174972,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10744819113652,"right":46.107783896556484},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0192731534917367,-1.6429924619846303,1.6720241090078027,-1.6240406628278599,-1.5708157509883334,-0.4484773618065634,180.0],"actuator_force":[0.02231711282456672,-19.059159068632198,-22.374229929891044,-2.3249200378430714,0.0024963722401025734,0.007877512888313731,5.0],"issued_joint_targets_rad":[-2.0194423256418115,-1.6335949031835975,1.686623801863801,-1.6236125607003533,-1.5708167573192977,-0.448642048679073],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.420000000000773,"joint_targets_rad":[-2.0194423256418115,-1.6335949031835975,1.686623801863801,-1.6236125607003533,-1.5708167573192977,-0.448642048679073],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.440000000000762,"qpos":[-2.0178808718555037,-1.6342842010112633,1.645798793655423,-1.5818349712129476,-1.5708186985360861,-0.44709099743935965,0.461177873248565,0.0002957063532474231,0.458276594568399,-0.45086424599339825,0.46117757549275523,0.00029370535034100524,0.4582120272771453,-0.4510662187655246,0.08015632729467435,0.4777649191538406,0.32071601255011195,0.9999999900175579,-3.776042351054238e-05,0.0001361556465608538,8.205979022840276e-07],"qvel":[-0.007844031426634047,0.005408076695538588,0.20772328952305394,-0.20973540540843488,-9.521461618450229e-06,-0.007834101566265983,-5.5674704255146166e-05,5.7414824114630436e-05,3.5953126463391165e-07,-0.00017436902480130075,-7.861685853141685e-05,2.6399023606536084e-05,-0.00026925918444602463,-0.00015503304870856323,0.003594331802496342,-0.0006046006853844774,-0.08312964917595607,-0.0070379476894114204,0.002957393467057281,0.00033061054509748213],"joint_position_rad":[-2.0178808718555037,-1.6342842010112633,1.645798793655423,-1.5818349712129476,-1.5708186985360861,-0.44709099743935965],"joint_velocity_rad_s":[-0.007844031426634047,0.005408076695538588,0.20772328952305394,-0.20973540540843488,-9.521461618450229e-06,-0.007834101566265983],"linkage_position_rad":[0.461177873248565,0.0002957063532474231,0.458276594568399,-0.45086424599339825,0.46117757549275523,0.00029370535034100524,0.4582120272771453,-0.4510662187655246],"tcp_position_m":[0.08016481598991607,0.47712571691392675,0.3267825753916943],"tcp_quaternion_wxyz":[8.953393471405023e-05,0.7071044779736996,0.7071090442589035,-0.00022077245216847464],"object_position_m":[0.08015632729467435,0.4777649191538406,0.32071601255011195],"object_quaternion_wxyz":[0.9999999900175579,-3.776042351054238e-05,0.0001361556465608538,8.205979022840276e-07],"object_linear_velocity_m_s":[0.003594331802496342,-0.0006046006853844774,-0.08312964917595607],"object_angular_velocity_rad_s":[-0.007037862283565616,0.0029574069483999503,0.000332303700753454],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325071767803656,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10742492375871,"right":46.107770108231996},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0194378434371,-1.6427366927590308,1.676157693381132,-1.62843160208844,-1.5708156161892635,-0.44864205151967135,180.0],"actuator_force":[0.023669407461056835,-19.06821417375022,-22.371516357803557,-2.3247748969027953,0.0024933195732046443,0.007883116470736695,5.0],"issued_joint_targets_rad":[-2.0196072597839763,-1.6333177123116387,1.6907393311408274,-1.628005909842405,-1.5708166229125426,-0.44880697975027406],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.440000000000762,"joint_targets_rad":[-2.0196072597839763,-1.6333177123116387,1.6907393311408274,-1.628005909842405,-1.5708166229125426,-0.44880697975027406],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.46000000000075,"qpos":[-2.018044506478619,-1.6341862400468026,1.6500793903494932,-1.5862118780779817,-1.5708185387096387,-0.44725471145411516,0.4611778775112551,0.00029567152350951575,0.45827657078818373,-0.45086402846521767,0.4611775856858148,0.00029373170305247934,0.45821207173803286,-0.45106640378255725,0.08024196451703854,0.4777702666067036,0.31900261282095493,0.9999999897975136,-3.924905628342954e-05,0.0001373396333419628,1.5193841998498404e-06],"qvel":[-0.007853933489874575,0.006320518133066602,0.20689291230542659,-0.20981926384561492,-9.616211710149868e-06,-0.007840248673930973,-5.442753904825425e-05,5.7192378236742413e-05,1.8748710155722347e-06,-0.00017490422158544742,-7.731418416989172e-05,2.6211320528409428e-05,-0.00026746725390012864,-0.00015521153774273038,0.0036088412225345648,-0.0005885162628851652,-0.08313704059015846,-0.007034194380390136,0.002957232074978369,0.00031861243033780133],"joint_position_rad":[-2.018044506478619,-1.6341862400468026,1.6500793903494932,-1.5862118780779817,-1.5708185387096387,-0.44725471145411516],"joint_velocity_rad_s":[-0.007853933489874575,0.006320518133066602,0.20689291230542659,-0.20981926384561492,-9.616211710149868e-06,-0.007840248673930973],"linkage_position_rad":[0.4611778775112551,0.00029567152350951575,0.45827657078818373,-0.45086402846521767,0.4611775856858148,0.00029373170305247934,0.45821207173803286,-0.45106640378255725],"tcp_position_m":[0.08025046704162687,0.4771284854869548,0.32506881785143715],"tcp_quaternion_wxyz":[8.969622746568697e-05,0.7071044497728883,0.7071090721825263,-0.00022159226938583732],"object_position_m":[0.08024196451703854,0.4777702666067036,0.31900261282095493],"object_quaternion_wxyz":[0.9999999897975136,-3.924905628342954e-05,0.0001373396333419628,1.5193841998498404e-06],"object_linear_velocity_m_s":[0.0036088412225345648,-0.0005885162628851652,-0.08313704059015846],"object_angular_velocity_rad_s":[-0.007034115617032333,0.002957235777008265,0.0003203124296103232],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632506874541626,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.107401388119364,"right":46.10775626805126},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0196027750161782,-1.6424610147571133,1.680273767451338,-1.6328249777827377,-1.5708154815099262,-0.4488069825940373,180.0],"actuator_force":[0.025036320831986814,-19.077756673847944,-22.368410718480845,-2.3246234678165365,0.0024902210271875447,0.007889297432058129,5.0],"issued_joint_targets_rad":[-2.019772469110176,-1.6330200496130882,1.6948369083750017,-1.6324017754160915,-1.5708164885136708,-0.44897218566568925],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.46000000000075,"joint_targets_rad":[-2.019772469110176,-1.6330200496130882,1.6948369083750017,-1.6324017754160915,-1.5708164885136708,-0.44897218566568925],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.48000000000074,"qpos":[-2.0182082833084083,-1.6340692465841749,1.6543426945525321,-1.5905905661656579,-1.570818380582676,-0.4474185671983942,0.4611778815121899,0.0002956379819053985,0.4582765478392252,-0.4508638192867122,0.46117759539167424,0.00029375690778581857,0.4582121146076743,-0.4510665805640106,0.08032791400129695,0.47777609788666126,0.31728915306007066,0.9999999895796259,-4.071868135055998e-05,0.0001384844571418307,2.188769105114909e-06],"qvel":[-0.007864542040565812,0.007240288324319057,0.20605913767654604,-0.2099068657786627,-9.701968989388608e-06,-0.007847068123229188,-5.317971012790329e-05,5.6964711328548024e-05,3.3942179849412705e-06,-0.0001754095537083184,-7.600881178461469e-05,2.6025244654739785e-05,-0.0002656698611176552,-0.00015540547518078115,0.0036248292767624432,-0.0005701335825025343,-0.08314429461089495,-0.0070305753016521476,0.0029572645416565133,0.0003066993049620134],"joint_position_rad":[-2.0182082833084083,-1.6340692465841749,1.6543426945525321,-1.5905905661656579,-1.570818380582676,-0.4474185671983942],"joint_velocity_rad_s":[-0.007864542040565812,0.007240288324319057,0.20605913767654604,-0.2099068657786627,-9.701968989388608e-06,-0.007847068123229188],"linkage_position_rad":[0.4611778815121899,0.0002956379819053985,0.4582765478392252,-0.4508638192867122,0.46117759539167424,0.00029375690778581857,0.4582121146076743,-0.4510665805640106],"tcp_position_m":[0.08033642959811249,0.4771317277662918,0.3233550093907128],"tcp_quaternion_wxyz":[8.98521911202936e-05,0.7071044217438829,0.7071090999403389,-0.00022239243473999457],"object_position_m":[0.08032791400129695,0.47777609788666126,0.31728915306007066],"object_quaternion_wxyz":[0.9999999895796259,-4.071868135055998e-05,0.0001384844571418307,2.188769105114909e-06],"object_linear_velocity_m_s":[0.0036248292767624432,-0.0005701335825025343,-0.08314429461089495],"object_angular_velocity_rad_s":[-0.007030503064692708,0.002957258811467808,0.00030840571419243],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325065796146425,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10737749073213,"right":46.10774233068549},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0197679817693617,-1.642165088458202,1.684372068115463,-1.63722086965785,-1.5708153468598993,-0.4489721885126057,180.0],"actuator_force":[0.026419894319133164,-19.087799077782165,-22.364907944756396,-2.3244651682297217,0.0024870582873290914,0.007896155217167689,5.0],"issued_joint_targets_rad":[-2.0198966312116093,-1.6327413778369513,1.6978522901407436,-1.635701461615735,-1.5708158795021088,-0.44909643915160063],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.48000000000074,"joint_targets_rad":[-2.0198966312116093,-1.6327413778369513,1.6978522901407436,-1.635701461615735,-1.5708158795021088,-0.44909643915160063],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.500000000000728,"qpos":[-2.018368765676548,-1.6339278458935003,1.6585070872778558,-1.5948764923560332,-1.570818291788917,-0.44757881713617387,0.46117730014595765,0.0002957810144051045,0.45827606554049277,-0.4508640293755954,0.4611769629887176,0.00029372515961143106,0.4582111493130044,-0.4510657077359563,0.08041090322793744,0.47777851071584665,0.3156074838162842,0.9999999873128432,-6.058976613641569e-05,0.00014727995014429663,3.4365660597923786e-06],"qvel":[-0.00771925735595144,0.00807357228270899,0.20031667824695457,-0.20489743278041128,-9.151297728281996e-06,-0.007665235795040726,-6.336903679607851e-05,4.055203064184887e-05,-2.2092799545362234e-05,-0.0001088238499616084,-8.002429570877664e-05,1.4380597013199114e-05,-0.00021527144508371335,-4.6064306313741175e-05,0.0036431131182831896,-0.0005545259115990085,-0.08115897581498335,-0.007141913329686172,0.003011565995909671,0.00026060427025230643],"joint_position_rad":[-2.018368765676548,-1.6339278458935003,1.6585070872778558,-1.5948764923560332,-1.570818291788917,-0.44757881713617387],"joint_velocity_rad_s":[-0.00771925735595144,0.00807357228270899,0.20031667824695457,-0.20489743278041128,-9.151297728281996e-06,-0.007665235795040726],"linkage_position_rad":[0.46117730014595765,0.0002957810144051045,0.45827606554049277,-0.4508640293755954,0.4611769629887176,0.00029372515961143106,0.4582111493130044,-0.4510657077359563],"tcp_position_m":[0.08042035503926659,0.4771342028940898,0.3216693754979191],"tcp_quaternion_wxyz":[9.306697006326781e-05,0.7071045021335218,0.7071090161161289,-0.00023179370644330153],"object_position_m":[0.08041090322793744,0.47777851071584665,0.3156074838162842],"object_quaternion_wxyz":[0.9999999873128432,-6.058976613641569e-05,0.00014727995014429663,3.4365660597923786e-06],"object_linear_velocity_m_s":[0.0036431131182831896,-0.0005545259115990085,-0.08115897581498335],"object_angular_velocity_rad_s":[-0.007141857008862239,0.00301154859404458,0.0002623430441532824],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632517417538889,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10651209619423,"right":46.106960690410894},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019892348506613,-1.6418877160980074,1.6873882828103057,-1.640520792890427,-1.57081473763239,-0.44909644192053727,180.0],"actuator_force":[0.04053728225062514,-19.149169322097805,-22.3642802338818,-2.3324069891558565,0.0026922080363647183,0.007711187322399837,5.0],"issued_joint_targets_rad":[-2.0198984607253094,-1.6325862408321086,1.697724819085196,-1.6357490796151621,-1.5708139525041827,-0.44909863348225243],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.500000000000728,"joint_targets_rad":[-2.0198984607253094,-1.6325862408321086,1.697724819085196,-1.6357490796151621,-1.5708139525041827,-0.44909863348225243],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.520000000000717,"qpos":[-2.0185160015005668,-1.6337577516745736,1.6622986879639539,-1.5987677819311616,-1.570818397262944,-0.44772448354339484,0.46117574003036244,0.00029604551932331725,0.45827469315696523,-0.4508640378012796,0.46117528521882306,0.00029359291065091185,0.4582087194857034,-0.4510628260642487,0.080484295292643,0.4777704031974883,0.31406731481358746,0.9999999754696671,-0.00013246742431941344,0.00017741510961764045,6.076614935653979e-06],"qvel":[-0.007079023747391663,0.008272728044881524,0.18062432858834582,-0.18544931980675927,-6.5324764968484085e-06,-0.006940515124416494,-2.3781382905698588e-05,-1.7164901803798548e-05,-3.296495014248824e-05,0.00011179079345323512,-2.2057266677169814e-05,-1.386489379075778e-06,-1.26751633911574e-05,6.054918034435951e-05,0.0035754132922288986,-0.0005174795846932047,-0.07342349254210508,-0.0069700715225362786,0.002895536586686561,0.00014484615342939906],"joint_position_rad":[-2.0185160015005668,-1.6337577516745736,1.6622986879639539,-1.5987677819311616,-1.570818397262944,-0.44772448354339484],"joint_velocity_rad_s":[-0.007079023747391663,0.008272728044881524,0.18062432858834582,-0.18544931980675927,-6.5324764968484085e-06,-0.006940515124416494],"linkage_position_rad":[0.46117574003036244,0.00029604551932331725,0.45827469315696523,-0.4508640378012796,0.46117528521882306,0.00029359291065091185,0.4582087194857034,-0.4510628260642487],"tcp_position_m":[0.08049621015441906,0.47713396520835355,0.3201144635497746],"tcp_quaternion_wxyz":[0.000104745258743047,0.7071050500736566,0.7071084548789957,-0.00026500452993909147],"object_position_m":[0.080484295292643,0.4777704031974883,0.31406731481358746],"object_quaternion_wxyz":[0.9999999754696671,-0.00013246742431941344,0.00017741510961764045,6.076614935653979e-06],"object_linear_velocity_m_s":[0.0035754132922288986,-0.0005174795846932047,-0.07342349254210508],"object_angular_velocity_rad_s":[-0.0069700550139030456,0.0028954904786963067,0.00014655222010928026],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046325419069117746,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10415614584705,"right":46.10502561280227},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01989494094782,-1.641732272811308,1.6872615866986143,-1.6405692056176484,-1.5708128102386922,-0.44909863595615734,180.0],"actuator_force":[0.07373060445024748,-19.258133491421177,-22.323933966017194,-2.355779862567374,0.0034467597755565293,0.0069753060604114125,5.0],"issued_joint_targets_rad":[-2.019900086662075,-1.6324582192217474,1.6976212216656095,-1.635791534624935,-1.5708122893297263,-0.44910059167046285],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.520000000000717,"joint_targets_rad":[-2.019900086662075,-1.6324582192217474,1.6976212216656095,-1.635791534624935,-1.5708122893297263,-0.44910059167046285],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.540000000000706,"qpos":[-2.0186499561836926,-1.6335919155245342,1.665715935446302,-1.6022913183508682,-1.5708183836521161,-0.4478563757630907,0.4611760597477259,0.000295424891429976,0.45827446663234667,-0.4508607091023353,0.4611757033670862,0.0002939238993607876,0.45820968366260895,-0.45106501219003414,0.08055358382218972,0.4777634511777948,0.31267595033733997,0.9999999602027939,-0.00019592949270196897,0.0002028360605962748,7.973522694574507e-06],"qvel":[-0.0064118333121635385,0.007934229037646956,0.16274107406148947,-0.16794983027170346,2.5250782140560826e-06,-0.0062842374037891955,3.904717715474629e-05,-3.792741821965697e-05,6.871266695750052e-06,0.00019267735057467336,4.6125518145650534e-05,2.386761855869891e-05,8.26841619206455e-05,-0.00019455464657095728,0.003288621926549876,-0.0004260314547533601,-0.06627898101392037,-0.005942832260552665,0.0023431092854078748,0.00011060608499878693],"joint_position_rad":[-2.0186499561836926,-1.6335919155245342,1.665715935446302,-1.6022913183508682,-1.5708183836521161,-0.4478563757630907],"joint_velocity_rad_s":[-0.0064118333121635385,0.007934229037646956,0.16274107406148947,-0.16794983027170346,2.5250782140560826e-06,-0.0062842374037891955],"linkage_position_rad":[0.4611760597477259,0.000295424891429976,0.45827446663234667,-0.4508607091023353,0.4611757033670862,0.0002939238993607876,0.45820968366260895,-0.45106501219003414],"tcp_position_m":[0.08056553691636349,0.4771344538916422,0.3187090247985952],"tcp_quaternion_wxyz":[0.0001145637325509006,0.7071057727271036,0.7071077196122321,-0.00029311421899978795],"object_position_m":[0.08055358382218972,0.4777634511777948,0.31267595033733997],"object_quaternion_wxyz":[0.9999999602027939,-0.00019592949270196897,0.0002028360605962748,7.973522694574507e-06],"object_linear_velocity_m_s":[0.003288621926549876,-0.0004260314547533601,-0.06627898101392037],"object_angular_velocity_rad_s":[-0.005942824453240006,0.002343058149300856,0.00011209876643541788],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632531185910501,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10423704849029,"right":46.10524592350134},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0198972131878246,-1.641604272895612,1.6871588257090726,-1.6406123289348429,-1.5708111460759455,-0.44910059389434803,180.0],"actuator_force":[0.07021931660165137,-19.19840635721448,-22.210649099054535,-2.3655222648169456,0.0033662802638900757,0.006314674750228733,5.0],"issued_joint_targets_rad":[-2.019901561608101,-1.632354746918143,1.6975390317340826,-1.6358290517356298,-1.5708107783585858,-0.4491023673949149],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.540000000000706,"joint_targets_rad":[-2.019901561608101,-1.632354746918143,1.6975390317340826,-1.6358290517356298,-1.5708107783585858,-0.4491023673949149],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.560000000000695,"qpos":[-2.0187712287120765,-1.6334347662185564,1.668795675375085,-1.6054824354150434,-1.5708181859485375,-0.44797579695275125,0.4611766163220747,0.00029472276087966025,0.4582743662962804,-0.45085679866663236,0.4611763883330506,0.00029437530031840587,0.45821107660900484,-0.451068611519114,0.08061671530750998,0.47775776246705387,0.3114200779893989,0.9999999438375339,-0.000249617201395503,0.00022344199792632673,9.479271017650039e-06],"qvel":[-0.00579946162846281,0.007498475030042298,0.1466658295516406,-0.15210400149443137,1.1544202741631285e-05,-0.005690036957572941,2.3743366781601503e-05,-3.374866054727397e-05,-5.054130588456208e-06,0.00019315453986463183,3.00752887515635e-05,1.9687276908030932e-05,6.420239353528897e-05,-0.0001596741562572795,0.002990308258443037,-0.00034722982569969076,-0.05981485382316818,-0.005008888124077824,0.001905088453302806,8.769050971890399e-05],"joint_position_rad":[-2.0187712287120765,-1.6334347662185564,1.668795675375085,-1.6054824354150434,-1.5708181859485375,-0.44797579695275125],"joint_velocity_rad_s":[-0.00579946162846281,0.007498475030042298,0.1466658295516406,-0.15210400149443137,1.1544202741631285e-05,-0.005690036957572941],"linkage_position_rad":[0.4611766163220747,0.00029472276087966025,0.4582743662962804,-0.45085679866663236,0.4611763883330506,0.00029437530031840587,0.45821107660900484,-0.451068611519114],"tcp_position_m":[0.08062861207388257,0.4771356433708027,0.31744050347947744],"tcp_quaternion_wxyz":[0.00012201176171332995,0.707106421845698,0.707107059946498,-0.00031475629029676554],"object_position_m":[0.08061671530750998,0.47775776246705387,0.3114200779893989],"object_quaternion_wxyz":[0.9999999438375339,-0.000249617201395503,0.00022344199792632673,9.479271017650039e-06],"object_linear_velocity_m_s":[0.002990308258443037,-0.00034722982569969076,-0.05981485382316818],"object_angular_velocity_rad_s":[-0.0050088847661686866,0.0019050375915717632,8.897782798028622e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632518337836948,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10378677711218,"right":46.1047152362955},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019899217174257,-1.6415010873729279,1.6870775067543256,-1.6406503981628104,-1.5708096336466864,-0.44910236941029985,180.0],"actuator_force":[0.06380772702414106,-19.132032320760118,-22.10266906217521,-2.373581224440386,0.0031217306515145538,0.005717466982986252,5.0],"issued_joint_targets_rad":[-2.0199029022664767,-1.6322713531781907,1.6974741491892094,-1.6358621910935451,-1.5708094021735375,-0.44910398026141546],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.560000000000695,"joint_targets_rad":[-2.0199029022664767,-1.6322713531781907,1.6974741491892094,-1.6358621910935451,-1.5708094021735375,-0.44910398026141546],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.580000000000684,"qpos":[-2.0188809524918323,-1.6332873731205213,1.671572030477705,-1.6083724481864192,-1.5708178271099116,-0.44808392684488324,0.4611769285668049,0.0002941155606883487,0.4582741168820578,-0.4508531593398148,0.46117681024137064,0.00029473608939023613,0.4582121244220441,-0.451071397028478,0.08067409145573678,0.47775315294194304,0.3102866275283222,0.9999999276983202,-0.0002946942073965731,0.00024009297174804265,1.0679161594228303e-05],"qvel":[-0.005244457166334469,0.007023439691552672,0.13221906534751376,-0.1377495193786057,1.8977819410827698e-05,-0.0051520445602608695,1.657431600735325e-05,-2.905099158613547e-05,-8.171646013751979e-06,0.00017092755685958755,2.195205091890573e-05,1.6309059521014496e-05,5.156968091758532e-05,-0.000128878779488577,0.002720538958081433,-0.00028106768977437154,-0.053979359180054566,-0.004196578245100211,0.001530240266312239,6.892279039892539e-05],"joint_position_rad":[-2.0188809524918323,-1.6332873731205213,1.671572030477705,-1.6083724481864192,-1.5708178271099116,-0.44808392684488324],"joint_velocity_rad_s":[-0.005244457166334469,0.007023439691552672,0.13221906534751376,-0.1377495193786057,1.8977819410827698e-05,-0.0051520445602608695],"linkage_position_rad":[0.4611769285668049,0.0002941155606883487,0.4582741168820578,-0.4508531593398148,0.46117681024137064,0.00029473608939023613,0.4582121244220441,-0.451071397028478],"tcp_position_m":[0.0806859484109228,0.47713737318376365,0.3162957205728243],"tcp_quaternion_wxyz":[0.00012739059667844747,0.7071069811611702,0.7071064923841183,-0.00033074612642273473],"object_position_m":[0.08067409145573678,0.47775315294194304,0.3102866275283222],"object_quaternion_wxyz":[0.9999999276983202,-0.0002946942073965731,0.00024009297174804265,1.0679161594228303e-05],"object_linear_velocity_m_s":[0.002720538958081433,-0.00028106768977437154,-0.053979359180054566],"object_angular_velocity_rad_s":[-0.0041965775649087135,0.0015301915848029417,7.003603666152881e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632508078494057,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10319890728992,"right":46.10405419200873},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019900989648226,-1.6414181650681625,1.6870135046827408,-1.640683996598735,-1.5708082556067156,-0.4491039821019883,180.0],"actuator_force":[0.05770855374657913,-19.070959771903745,-22.004677728933984,-2.3808222682972655,0.002887969656853784,0.005176827473547974,5.0],"issued_joint_targets_rad":[-2.019904120291644,-1.6322042621989714,1.6974231471617012,-1.635891467463774,-1.570808150674863,-0.44910544461903557],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.580000000000684,"joint_targets_rad":[-2.019904120291644,-1.6322042621989714,1.6974231471617012,-1.635891467463774,-1.570808150674863,-0.44910544461903557],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.600000000000673,"qpos":[-2.0189802097301617,-1.633150158413498,1.6740755955253301,-1.6109896893165945,-1.5708173386042632,-0.44818183342796575,0.46117719568946436,0.0002935873818471728,0.45827389445177497,-0.4508499989399592,0.4611771725300567,0.0002950447420485156,0.4582130345892258,-0.4510737743374188,0.08072625239456233,0.47774945512006434,0.30926369354607197,0.9999999126337009,-0.000332307059608854,0.0002533168645296451,1.1626511178557216e-05],"qvel":[-0.0047420945646440525,0.00653143633554274,0.11922918635125704,-0.12474603984286653,2.492154544666048e-05,-0.004664937735994437,1.548110262392223e-05,-2.533518887491117e-05,-6.3325734272407e-06,0.00014742720376976912,2.0164584029057485e-05,1.415472480730697e-05,4.607123867319988e-05,-0.00011283673880358111,0.002474570009686049,-0.00022566688703240927,-0.048712482337984135,-0.0034936699486903637,0.0012050988412092162,5.318955423196592e-05],"joint_position_rad":[-2.0189802097301617,-1.633150158413498,1.6740755955253301,-1.6109896893165945,-1.5708173386042632,-0.44818183342796575],"joint_velocity_rad_s":[-0.0047420945646440525,0.00653143633554274,0.11922918635125704,-0.12474603984286653,2.492154544666048e-05,-0.004664937735994437],"linkage_position_rad":[0.46117719568946436,0.0002935873818471728,0.45827389445177497,-0.4508499989399592,0.4611771725300567,0.0002950447420485156,0.4582130345892258,-0.4510737743374188],"tcp_position_m":[0.0807380445348173,0.4771395029001386,0.3152626353303039],"tcp_quaternion_wxyz":[0.0001310214945192936,0.7071074556678955,0.7071060118859159,-0.0003419459568028438],"object_position_m":[0.08072625239456233,0.47774945512006434,0.30926369354607197],"object_quaternion_wxyz":[0.9999999126337009,-0.000332307059608854,0.0002533168645296451,1.1626511178557216e-05],"object_linear_velocity_m_s":[0.002474570009686049,-0.00022566688703240927,-0.048712482337984135],"object_angular_velocity_rad_s":[-0.0034936707772391905,0.0012050532753779414,5.4158654997652354e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324990739280356,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10272752992979,"right":46.10352110436765},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199025600251326,-1.6413516666285306,1.6869633737781864,-1.6407136581554997,-1.5708070019409865,-0.4491054463119048,180.0],"actuator_force":[0.052137235916234204,-19.015590964282183,-21.916118034790088,-2.387380435166051,0.0026761770935763707,0.0046873316298956524,5.0],"issued_joint_targets_rad":[-2.019905226234563,-1.632150389793324,1.6973832558987016,-1.6359173425324038,-1.5708070143382273,-0.4491067734705664],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.600000000000673,"joint_targets_rad":[-2.019905226234563,-1.632150389793324,1.6973832558987016,-1.6359173425324038,-1.5708070143382273,-0.4491067734705664],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.620000000000662,"qpos":[-2.0190699874158775,-1.6330232064917536,1.6763337559579057,-1.6133598330605852,-1.5708167480297863,-0.4482704835704636,0.46117744805260563,0.0002931252915769601,0.45827371685597856,-0.45084726348247495,0.4611775082865704,0.0002953107452221409,0.4582138512881251,-0.4510758445904012,0.08077365649096066,0.47774652564274045,0.30834051926308875,0.9999998991311614,-0.0003634708145872108,0.0002635787723233294,1.2363857791367542e-05],"qvel":[-0.004287503702287532,0.0060374190422937,0.10754316014175286,-0.11296686070617276,2.95843138486092e-05,-0.004223898682722569,1.3868416497035103e-05,-2.2090324124320032e-05,-5.288484493005806e-06,0.00012792971741881054,1.7942720343206198e-05,1.2130082211212299e-05,4.058230363377143e-05,-9.722397131069683e-05,0.0022498167995555884,-0.00017934694843231021,-0.04395895280057112,-0.002886950504114601,0.0009251232367900239,3.9928954360886706e-05],"joint_position_rad":[-2.0190699874158775,-1.6330232064917536,1.6763337559579057,-1.6133598330605852,-1.5708167480297863,-0.4482704835704636],"joint_velocity_rad_s":[-0.004287503702287532,0.0060374190422937,0.10754316014175286,-0.11296686070617276,2.95843138486092e-05,-0.004223898682722569],"linkage_position_rad":[0.46117744805260563,0.0002931252915769601,0.45827371685597856,-0.45084726348247495,0.4611775082865704,0.0002953107452221409,0.4582138512881251,-0.4510758445904012],"tcp_position_m":[0.08078536153419706,0.4771419181471695,0.3143303653086283],"tcp_quaternion_wxyz":[0.0001331879531841049,0.7071078523816808,0.7071056112615218,-0.00034911832543917316],"object_position_m":[0.08077365649096066,0.47774652564274045,0.30834051926308875],"object_quaternion_wxyz":[0.9999998991311614,-0.0003634708145872108,0.0002635787723233294,1.2363857791367542e-05],"object_linear_velocity_m_s":[0.0022498167995555884,-0.00017934694843231021,-0.04395895280057112],"object_angular_velocity_rad_s":[-0.002886952107050251,0.00092508118382004,4.0778337300416284e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632490925636809,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.102307798900206,"right":46.10304583228186},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199039534563017,-1.6412984593966113,1.6869243306198687,-1.6407398596265494,-1.5708058631976607,-0.4491067750375693,180.0],"actuator_force":[0.047069400066448,-18.965473426633253,-21.83611473277506,-2.393327212364852,0.002483984677951412,0.004244134719414205,5.0],"issued_joint_targets_rad":[-2.0199062298542896,-1.6321072248367665,1.6973522434678112,-1.635940226635479,-1.570805983925571,-0.4491079787995231],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.620000000000662,"joint_targets_rad":[-2.0199062298542896,-1.6321072248367665,1.6973522434678112,-1.635940226635479,-1.570805983925571,-0.4491079787995231],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.64000000000065,"qpos":[-2.019151181905027,-1.6329063655239358,1.6783710421679823,-1.6155061469857337,-1.570816079032767,-0.44835075261802265,0.4611776743891922,0.000292722389672056,0.45827356765094934,-0.4508448905493207,0.4611778073812428,0.00029553711420817093,0.4582145714071186,-0.4510776160294359,0.08081672215228379,0.4777442422543752,0.30750739074523514,0.9999998874258065,-0.00038907623722820905,0.0002712949954024168,1.2926016220982983e-05],"qvel":[-0.003876215867342088,0.00555217245299517,0.09702507375917449,-0.10229716103997524,3.31469862382339e-05,-0.003824566733024888,1.2161416319801144e-05,-1.916851050640087e-05,-4.558720493104107e-06,0.00011071245902387384,1.5689317883846092e-05,1.0281705195982401e-05,3.540723847303395e-05,-8.2690307074453e-05,0.002044688439807525,-0.00014068699529266776,-0.0396688782184406,-0.0023645490086840132,0.0006850032085694222,2.87061877379298e-05],"joint_position_rad":[-2.019151181905027,-1.6329063655239358,1.6783710421679823,-1.6155061469857337,-1.570816079032767,-0.44835075261802265],"joint_velocity_rad_s":[-0.003876215867342088,0.00555217245299517,0.09702507375917449,-0.10229716103997524,3.31469862382339e-05,-0.003824566733024888],"linkage_position_rad":[0.4611776743891922,0.000292722389672056,0.45827356765094934,-0.4508448905493207,0.4611778073812428,0.00029553711420817093,0.4582145714071186,-0.4510776160294359],"tcp_position_m":[0.08082832344738175,0.47714452675020663,0.3134890846517965],"tcp_quaternion_wxyz":[0.00013413601136777603,0.7071081786003023,0.7071052829720376,-0.00035292651873372003],"object_position_m":[0.08081672215228379,0.4777442422543752,0.30750739074523514],"object_quaternion_wxyz":[0.9999998874258065,-0.00038907623722820905,0.0002712949954024168,1.2926016220982983e-05],"object_linear_velocity_m_s":[0.002044688439807525,-0.00014068699529266776,-0.0396688782184406],"object_angular_velocity_rad_s":[-0.002364550937761428,0.0006849647097248213,2.945614700781107e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632483621213911,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.101922701933916,"right":46.102610464991685},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199051916282444,-1.6412559957915684,1.6868941336740717,-1.6407630232196437,-1.5708048302003346,-0.4491079802582942,180.0],"actuator_force":[0.04246690050194957,-18.920129516463476,-21.763846491490767,-2.398722012957478,0.0023097175923112445,0.0038428531667307197,5.0],"issued_joint_targets_rad":[-2.0199071401708615,-1.6320727243505342,1.6973283124068486,-1.6359604823027076,-1.5708050505838653,-0.44910907164226993],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.64000000000065,"joint_targets_rad":[-2.0199071401708615,-1.6320727243505342,1.6973283124068486,-1.6359604823027076,-1.5708050505838653,-0.44910907164226993],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.66000000000064,"qpos":[-2.019224606620609,-1.632799315937262,1.6802094458668615,-1.6174497167254374,-1.570815351820356,-0.4484234330751017,0.461177876611247,0.00029237300568464174,0.4582734435552923,-0.45084284400161007,0.46117807276545325,0.0002957278406064728,0.4582152039157627,-0.4510791176960263,0.08085583467594418,0.4777425007171602,0.3067555362871827,0.9999998775826939,-0.0004099035398079048,0.0002768315148068566,1.3341604481624237e-05],"qvel":[-0.0035041642829526905,0.005083345173406151,0.08755408646692425,-0.09263284296232013,3.5769523380023026e-05,-0.0034629948536232832,1.0747254842435292e-05,-1.654308035495287e-05,-3.767257794795281e-06,9.511201395299815e-05,1.3787938571724569e-05,8.623806759938367e-06,3.0891823621471296e-05,-6.978074108554104e-05,0.0018576410089257678,-0.00010848954897321848,-0.03579718481693502,-0.001915952545623996,0.0004798251062924892,1.917227146338011e-05],"joint_position_rad":[-2.019224606620609,-1.632799315937262,1.6802094458668615,-1.6174497167254374,-1.570815351820356,-0.4484234330751017],"joint_velocity_rad_s":[-0.0035041642829526905,0.005083345173406151,0.08755408646692425,-0.09263284296232013,3.5769523380023026e-05,-0.0034629948536232832],"linkage_position_rad":[0.461177876611247,0.00029237300568464174,0.4582734435552923,-0.45084284400161007,0.46117807276545325,0.0002957278406064728,0.4582152039157627,-0.4510791176960263],"tcp_position_m":[0.08086731949015441,0.47714725484075154,0.3127299227250181],"tcp_quaternion_wxyz":[0.00013407845131601186,0.707108441576354,0.7071050194964827,-0.0003539453439122606],"object_position_m":[0.08085583467594418,0.4777425007171602,0.3067555362871827],"object_quaternion_wxyz":[0.9999998775826939,-0.0004099035398079048,0.0002768315148068566,1.3341604481624237e-05],"object_linear_velocity_m_s":[0.0018576410089257678,-0.00010848954897321848,-0.03579718481693502],"object_angular_velocity_rad_s":[-0.001915954548681904,0.0004797899736504972,1.983971457248088e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632477084004529,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10157365364142,"right":46.102215865388345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019906293298736,-1.641222205840111,1.6868709790381156,-1.640783520785447,-1.5708038941486673,-0.44910907300709746,180.0],"actuator_force":[0.03829235692683142,-18.879117875060274,-21.698568244261423,-2.403617733772876,0.0021518835063716324,0.0034795193644470146,5.0],"issued_joint_targets_rad":[-2.0199079655020267,-1.6320452272079877,1.6973100159566146,-1.6359784284692422,-1.5708042059282492,-0.44911006214311316],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.66000000000064,"joint_targets_rad":[-2.0199079655020267,-1.6320452272079877,1.6973100159566146,-1.6359784284692422,-1.5708042059282492,-0.44911006214311316],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.680000000000629,"qpos":[-2.019290999359115,-1.6327016228617706,1.6818686984323392,-1.6192096494837582,-1.5708145835588099,-0.44848924245979527,0.46117805846531906,0.00029207178671538715,0.45827334336152337,-0.4508410921778248,0.46117830916143193,0.0002958866539514067,0.4582157590230069,-0.451080379094842,0.08089134755279818,0.4777412121686034,0.3060770358767529,0.9999998695555394,-0.0004266351501501987,0.00028050928812450285,1.3634230524083646e-05],"qvel":[-0.0031676523822065025,0.004636157889110212,0.07902260252558599,-0.08387952708204478,3.759368905967881e-05,-0.0031356102503791007,9.542301493015323e-06,-1.4192894304628658e-05,-2.9805844663746207e-06,8.109031844416517e-05,1.214906348251e-05,7.13574482289883e-06,2.6917628096120328e-05,-5.826276628682897e-05,0.0016872029705936016,-8.17446461530502e-05,-0.032303156003986366,-0.0015318691776176568,0.00030525211666543415,1.104597978253934e-05],"joint_position_rad":[-2.019290999359115,-1.6327016228617706,1.6818686984323392,-1.6192096494837582,-1.5708145835588099,-0.44848924245979527],"joint_velocity_rad_s":[-0.0031676523822065025,0.004636157889110212,0.07902260252558599,-0.08387952708204478,3.759368905967881e-05,-0.0031356102503791007],"linkage_position_rad":[0.46117805846531906,0.00029207178671538715,0.45827334336152337,-0.4508410921778248,0.46117830916143193,0.0002958866539514067,0.4582157590230069,-0.451080379094842],"tcp_position_m":[0.08090270635152139,0.4771500435941778,0.31204487173848894],"tcp_quaternion_wxyz":[0.0001331987953417219,0.7071086483362846,0.7071048135381762,-0.0003526715939775588],"object_position_m":[0.08089134755279818,0.4777412121686034,0.3060770358767529],"object_quaternion_wxyz":[0.9999998695555394,-0.0004266351501501987,0.00028050928812450285,1.3634230524083646e-05],"object_linear_velocity_m_s":[0.0016872029705936016,-8.17446461530502e-05,-0.032303156003986366],"object_angular_velocity_rad_s":[-0.001531871135922467,0.00030522002566291893,1.1644938600914912e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324712245709464,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10125813302109,"right":46.10185896161192},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199072747344458,-1.6411954088308034,1.6868534159502373,-1.6408016785725414,-1.5708030467026168,-0.44911006342562443,180.0],"actuator_force":[0.034510202220644715,-18.84203509370991,-21.639605974437927,-2.40806183618713,0.002009059190413609,0.003150542123307787,5.0],"issued_joint_targets_rad":[-2.0199087135004117,-1.6320233836006186,1.6972961904803237,-1.6359943448817582,-1.5708034420918524,-0.44911095960851277],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.680000000000629,"joint_targets_rad":[-2.0199087135004117,-1.6320233836006186,1.6972961904803237,-1.6359943448817582,-1.5708034420918524,-0.44911095960851277],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.700000000000617,"qpos":[-2.0193510290349597,-1.6326127765603977,1.6833665160021851,-1.6208032586103487,-1.5708137887363085,-0.44854883041092225,0.4611782223135473,0.000291813792735546,0.4582732649340532,-0.45083960464539236,0.4611785198192183,0.0002960168992757996,0.4582162449870694,-0.45108142558988484,0.08092358452399433,0.477740300879927,0.30546473907422816,0.9999998632288648,-0.00043986711718590934,0.00028260941905895574,1.3823443346878025e-05],"qvel":[-0.0028633225939163178,0.004213960211965501,0.07133468862964287,-0.07595164738780441,3.874434553494911e-05,-0.0028391787439206446,8.489933094926705e-06,-1.2092054458013095e-05,-2.23753909952555e-06,6.853967518595364e-05,1.0710455873411995e-05,5.802672158423606e-06,2.3394889618706412e-05,-4.797313741383161e-05,0.0015319985658633327,-5.959969141149481e-05,-0.029150022117520803,-0.0012040951549804522,0.00015744353630155514,4.099986133048731e-06],"joint_position_rad":[-2.0193510290349597,-1.6326127765603977,1.6833665160021851,-1.6208032586103487,-1.5708137887363085,-0.44854883041092225],"joint_velocity_rad_s":[-0.0028633225939163178,0.004213960211965501,0.07133468862964287,-0.07595164738780441,3.874434553494911e-05,-0.0028391787439206446],"linkage_position_rad":[0.4611782223135473,0.000291813792735546,0.4582732649340532,-0.45083960464539236,0.4611785198192183,0.0002960168992757996,0.4582162449870694,-0.45108142558988484],"tcp_position_m":[0.08093481046320615,0.4771528465343563,0.3114267031851059],"tcp_quaternion_wxyz":[0.00013165487856476305,0.7071088055601258,0.7071046581607991,-0.00034953343757945966],"object_position_m":[0.08092358452399433,0.477740300879927,0.30546473907422816],"object_quaternion_wxyz":[0.9999998632288648,-0.00043986711718590934,0.00028260941905895574,1.3823443346878025e-05],"object_linear_velocity_m_s":[0.0015319985658633327,-5.959969141149481e-05,-0.029150022117520803],"object_angular_velocity_rad_s":[-0.0012040970368103216,0.0001574140921315601,4.642068486151389e-06],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632465969432005,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10097280586762,"right":46.10153594267304},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199081500760854,-1.6411742411379842,1.686840278634028,-1.640817782062501,-1.5708022800332069,-0.4491109608182212,180.0],"actuator_force":[0.03108695531545891,-18.80851323995921,-21.58635018817131,-2.4120969872957403,0.001879916997268083,0.0028526707426124176,5.0],"issued_joint_targets_rad":[-2.0199093911917325,-1.6320060974295931,1.6972859009211978,-1.6360084764230531,-1.5708027517494714,-0.4491117725610465],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.700000000000617,"joint_targets_rad":[-2.0199093911917325,-1.6320060974295931,1.6972859009211978,-1.6360084764230531,-1.5708027517494714,-0.4491117725610465],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.720000000000606,"qpos":[-2.0194053018810134,-1.6325322233467432,1.6847188157322832,-1.6222462310473729,-1.5708129794944847,-0.4486027851190322,0.46117837008728607,0.000291594531835871,0.4582732061082768,-0.4508383535921201,0.46117870747647927,0.00029612163220777885,0.45821666908648334,-0.4510822801451011,0.0809528417274237,0.4777397023518439,0.30491219065008995,0.9999998584479042,-0.0004501192648563386,0.00028337766249491724,1.3925497649198147e-05],"qvel":[-0.0025881270920277213,0.003818673198791741,0.06440470248803307,-0.0687716318845227,3.9330963188952775e-05,-0.002570772559659219,7.570336326358494e-06,-1.0216306200323318e-05,-1.5422608155371185e-06,5.731994677960724e-05,9.447347877325006e-06,4.6118549561830975e-06,2.0273313258982126e-05,-3.8805038824284145e-05,0.001390746716403868,-4.133430302685058e-05,-0.026304580718896065,-0.0009253950012950184,3.2998133301993147e-05,-1.8500305923803844e-06],"joint_position_rad":[-2.0194053018810134,-1.6325322233467432,1.6847188157322832,-1.6222462310473729,-1.5708129794944847,-0.4486027851190322],"joint_velocity_rad_s":[-0.0025881270920277213,0.003818673198791741,0.06440470248803307,-0.0687716318845227,3.9330963188952775e-05,-0.002570772559659219],"linkage_position_rad":[0.46117837008728607,0.000291594531835871,0.4582732061082768,-0.4508383535921201,0.46117870747647927,0.00029612163220777885,0.45821666908648334,-0.4510822801451011],"tcp_position_m":[0.08096393020690465,0.4771556273076922,0.3108688923028325],"tcp_quaternion_wxyz":[0.00012958202442023793,0.7071089195045019,0.7071045468744364,-0.00034489878550440057],"object_position_m":[0.0809528417274237,0.4777397023518439,0.30491219065008995],"object_quaternion_wxyz":[0.9999998584479042,-0.0004501192648563386,0.00028337766249491724,1.3925497649198147e-05],"object_linear_velocity_m_s":[0.001390746716403868,-4.133430302685058e-05,-0.026304580718896065],"object_angular_velocity_rad_s":[-0.0009253968282524556,3.297091734169486e-05,-1.355251400500506e-06],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632461255054036,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10071489028265,"right":46.101243619275124},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199089316446264,-1.6411575973032007,1.686830631299889,-1.6408320806331993,-1.570801586847046,-0.44911177370578775,180.0],"actuator_force":[0.027991309585104318,-18.778217192431384,-21.538249860001542,-2.4157616044608403,0.0017632274006018633,0.0025829625881499396,5.0],"issued_joint_targets_rad":[-2.0199100050135774,-1.6319924792695613,1.697278396754238,-1.6360210371949087,-1.5708021281220264,-0.44911250879269343],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.720000000000606,"joint_targets_rad":[-2.0199100050135774,-1.6319924792695613,1.697278396754238,-1.6360210371949087,-1.5708021281220264,-0.44911250879269343],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.740000000000595,"qpos":[-2.01945436713588,-1.6324593889600847,1.6859399069958665,-1.62355277924895,-1.570812165927274,-0.44865163914608325,0.4611785035305741,0.00029140992213465495,0.4582731648956779,-0.45083731382250436,0.4611788746091647,0.0002962036396579015,0.4582170379062435,-0.45108296372759343,0.0809793897543051,0.47773936169415804,0.30441356333788516,0.9999998550394144,-0.00045784422070741854,0.0002830284550652345,1.3953969199731557e-05],"qvel":[-0.0023393006752494452,0.003451140135252609,0.05815610095444335,-0.06226916005979402,3.944912322560465e-05,-0.002327741202355021,6.765399054272661e-06,-8.54398010912984e-06,-8.979675744654867e-07,4.730723518221496e-05,8.337204212065594e-06,3.5509441686248108e-06,1.7507518016828787e-05,-3.0655204634986647e-05,0.0012622582069970693,-2.6339318403236096e-05,-0.02373685238820697,-0.0006893938088929412,-7.109193427641425e-05,-6.954062721708564e-06],"joint_position_rad":[-2.01945436713588,-1.6324593889600847,1.6859399069958665,-1.62355277924895,-1.570812165927274,-0.44865163914608325],"joint_velocity_rad_s":[-0.0023393006752494452,0.003451140135252609,0.05815610095444335,-0.06226916005979402,3.944912322560465e-05,-0.002327741202355021],"linkage_position_rad":[0.4611785035305741,0.00029140992213465495,0.4582731648956779,-0.45083731382250436,0.4611788746091647,0.0002962036396579015,0.4582170379062435,-0.45108296372759343],"tcp_position_m":[0.08099033803543555,0.4771583578446009,0.31036554980524567],"tcp_quaternion_wxyz":[0.00012709586075944538,0.7071089959579497,0.7071044736846765,-0.0003390827297648205],"object_position_m":[0.0809793897543051,0.47773936169415804,0.30441356333788516],"object_quaternion_wxyz":[0.9999998550394144,-0.00045784422070741854,0.0002830284550652345,1.3953969199731557e-05],"object_linear_velocity_m_s":[0.0012622582069970693,-2.6339318403236096e-05,-0.02373685238820697],"object_angular_velocity_rad_s":[-0.0006893956320287361,-7.111733314262392e-05,-6.498716319158119e-06],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324570247861525,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10048188704373,"right":46.100979141205215},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.01990963019903,-1.6411445819570223,1.6868237237361376,-1.640844791909053,-1.5708009603915356,-0.449112509878972,180.0],"actuator_force":[0.02519414379958107,-18.75084204797622,-21.494806901234824,-2.4190903240720445,0.0016578555465684985,0.002338753791121917,5.0],"issued_joint_targets_rad":[-2.019910560854226,-1.631981807976697,1.6972730763947,-1.6360322142746409,-1.5708015649672904,-0.4491131754169396],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.740000000000595,"joint_targets_rad":[-2.019910560854226,-1.631981807976697,1.6972730763947,-1.6360322142746409,-1.5708015649672904,-0.4491131754169396],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.760000000000584,"qpos":[-2.0194987222512535,-1.6323936959802376,1.6870426607447453,-1.6247357790142596,-1.5708113563487272,-0.44869587469228006,0.4611786241737161,0.0002912562558693273,0.4582731394324249,-0.450836462456932,0.46117902341120315,0.00029626545488804844,0.4582173573573722,-0.45108349536226383,0.08100347561152797,0.47773923224442094,0.3039635970294948,0.9999998528257842,-0.00046343543609789727,0.000281748526377088,1.3920250125671154e-05],"qvel":[-0.002114335733088814,0.0031114035417294937,0.052520401274455494,-0.05638048947917761,3.9181940321870136e-05,-0.002107685117148834,6.058268720962327e-06,-7.055389048239926e-06,-3.0739145934806876e-07,3.8389897478674224e-05,7.35921018237304e-06,2.6083520203084546e-06,1.5056214223932733e-05,-2.342636460066473e-05,0.001145432383142101,-1.4099257893948211e-05,-0.02141976982385301,-0.0004904807701719487,-0.0001574831685734709,-1.1334699743485879e-05],"joint_position_rad":[-2.0194987222512535,-1.6323936959802376,1.6870426607447453,-1.6247357790142596,-1.5708113563487272,-0.44869587469228006],"joint_velocity_rad_s":[-0.002114335733088814,0.0031114035417294937,0.052520401274455494,-0.05638048947917761,3.9181940321870136e-05,-0.002107685117148834],"linkage_position_rad":[0.4611786241737161,0.0002912562558693273,0.4582731394324249,-0.450836462456932,0.46117902341120315,0.00029626545488804844,0.4582173573573722,-0.45108349536226383],"tcp_position_m":[0.08101428249292032,0.47716101684075507,0.3099113601906559],"tcp_quaternion_wxyz":[0.00012429481337583655,0.7071090402204415,0.7071044331144062,-0.00033235414677035394],"object_position_m":[0.08100347561152797,0.47773923224442094,0.3039635970294948],"object_quaternion_wxyz":[0.9999998528257842,-0.00046343543609789727,0.000281748526377088,1.3920250125671154e-05],"object_linear_velocity_m_s":[0.001145432383142101,-1.4099257893948211e-05,-0.02141976982385301],"object_angular_velocity_rad_s":[-0.0004904826534982505,-0.00015750713389840106,-1.0912337014083402e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632453228285285,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10027148333601,"right":46.100739891736225},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199102551539134,-1.6411344706012296,1.686818955433448,-1.640856105728547,-1.5708003944462665,-0.4491131764502041,180.0],"actuator_force":[0.022668487915780133,-18.72611065867568,-21.455571132376463,-2.4221144092258555,0.0015627571982577138,0.0021176327528849015,5.0],"issued_joint_targets_rad":[-2.0199110640909725,-1.6319734993627653,1.6972694584289196,-1.6360421711096498,-1.570801056561097,-0.44911377891925525],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.760000000000584,"joint_targets_rad":[-2.0199110640909725,-1.6319734993627653,1.6972694584289196,-1.6360421711096498,-1.570801056561097,-0.44911377891925525],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.780000000000573,"qpos":[-2.019538817652727,-1.6323345765537725,1.6880386597881418,-1.6258068945357136,-1.5708105575319038,-0.4487359283629131,0.46117873335494847,0.00029113017009767175,0.458273127975535,-0.4508357787409456,0.46117915582186003,0.0002963093769314237,0.45821763273931354,-0.45108389227831797,0.08102532458277886,0.4777392743883882,0.303557543803677,0.9999998516342713,-0.0004672343043535655,0.00027970012717690884,1.383394760412304e-05],"qvel":[-0.0019109591993166867,0.0027989229025300166,0.04743627332669751,-0.0510478447820195,3.8601394010328865e-05,-0.0019084318678600025,5.435035043443092e-06,-5.732591527679969e-06,2.287892221005832e-07,3.046481769923582e-05,6.495903807116951e-06,1.7733352844430627e-06,1.2883509637149365e-05,-1.7029971684480042e-05,0.0010392531839047254,-4.177655067030683e-06,-0.01932889661239732,-0.0003237228933670301,-0.00022851880480698108,-1.5092650974728123e-05],"joint_position_rad":[-2.019538817652727,-1.6323345765537725,1.6880386597881418,-1.6258068945357136,-1.5708105575319038,-0.4487359283629131],"joint_velocity_rad_s":[-0.0019109591993166867,0.0027989229025300166,0.04743627332669751,-0.0510478447820195,3.8601394010328865e-05,-0.0019084318678600025],"linkage_position_rad":[0.46117873335494847,0.00029113017009767175,0.458273127975535,-0.4508357787409456,0.46117915582186003,0.0002963093769314237,0.45821763273931354,-0.45108389227831797],"tcp_position_m":[0.08103599012493774,0.4771635885023752,0.3095015260035304],"tcp_quaternion_wxyz":[0.00012126231086633257,0.7071090571007952,0.7071044202057184,-0.00032494154943630524],"object_position_m":[0.08102532458277886,0.4777392743883882,0.303557543803677],"object_quaternion_wxyz":[0.9999998516342713,-0.0004672343043535655,0.00027970012717690884,1.383394760412304e-05],"object_linear_velocity_m_s":[0.0010392531839047254,-4.177655067030683e-06,-0.01932889661239732],"object_angular_velocity_rad_s":[-0.0003237249028668803,-0.00022854168078584718,-1.469800534719572e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632449820828296,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10008155992915,"right":46.10052348732781},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019910814763942,-1.6411266776309452,1.6868158465930974,-1.6408661877051223,-1.5707998833048236,-0.4491137799041159,180.0],"actuator_force":[0.02038945729691477,-18.7037713153577,-21.42013572076803,-2.42486210650236,0.0014769741391091884,0.0019174161846251536,5.0],"issued_joint_targets_rad":[-2.019911519627522,-1.631967080643614,1.6972671583541994,-1.6360510505452233,-1.5708005976722639,-0.44911432520556915],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.780000000000573,"joint_targets_rad":[-2.019911519627522,-1.631967080643614,1.6972671583541994,-1.6360510505452233,-1.5708005976722639,-0.44911432520556915],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.800000000000562,"qpos":[-2.0195750610865844,-1.6322814814516542,1.6889383323542158,-1.626776691840324,-1.5708097749210799,-0.4487721954829368,0.46117883225233464,0.0002910286189480165,0.4582731289098098,-0.45083524388143986,0.4611792735629557,0.0002963374892183767,0.4582178688088881,-0.45108417006490914,0.08104514198218656,0.47773945455128536,0.3031911182389815,0.9999998513027268,-0.000469536472746043,0.00027702391071690125,1.3703204899972543e-05],"qvel":[-0.0017271113821348927,0.0025127448567704882,0.0428487443027543,-0.04621886313457292,3.7769562275049834e-05,-0.001728014589538648,4.884147587942098e-06,-4.559274350399824e-06,7.113622976621644e-07,2.3437228348412542e-05,5.732548425843624e-06,1.0359469586430293e-06,1.095806836172032e-05,-1.1385292286852372e-05,0.0009427847317469161,3.795234254425855e-06,-0.01744217284007894,-0.00018478790884948008,-0.00028626310663157074,-1.8311143254292453e-05],"joint_position_rad":[-2.0195750610865844,-1.6322814814516542,1.6889383323542158,-1.626776691840324,-1.5708097749210799,-0.4487721954829368],"joint_velocity_rad_s":[-0.0017271113821348927,0.0025127448567704882,0.0428487443027543,-0.04621886313457292,3.7769562275049834e-05,-0.001728014589538648],"linkage_position_rad":[0.46117883225233464,0.0002910286189480165,0.4582731289098098,-0.45083524388143986,0.4611792735629557,0.0002963374892183767,0.4582178688088881,-0.45108417006490914],"tcp_position_m":[0.08105566727391714,0.47716606150973595,0.3091317174802669],"tcp_quaternion_wxyz":[0.0001180687316029893,0.7071090509270055,0.7071044305077017,-0.00031703826582029715],"object_position_m":[0.08104514198218656,0.47773945455128536,0.3031911182389815],"object_quaternion_wxyz":[0.9999998513027268,-0.000469536472746043,0.00027702391071690125,1.3703204899972543e-05],"object_linear_velocity_m_s":[0.0009427847317469161,3.795234254425855e-06,-0.01744217284007894],"object_angular_velocity_rad_s":[-0.0001847901055169401,-0.00028628519223868526,-1.7939928943510838e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632446762593105,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09991018317373,"right":46.10032776341859},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199113162805067,-1.6411207302708342,1.6868140146934705,-1.6408751823859853,-1.57079942175024,-0.44911432614596997,180.0],"actuator_force":[0.01833416500903695,-18.683595581068403,-21.38813304259247,-2.4273589593733504,0.0013996291925195692,0.0017361274372831303,5.0],"issued_joint_targets_rad":[-2.0199119319300918,-1.6319621696052033,1.6972658697705691,-1.6360589774994088,-1.5708001835336562,-0.4491148196484514],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.800000000000562,"joint_targets_rad":[-2.0199119319300918,-1.6319621696052033,1.6972658697705691,-1.6360589774994088,-1.5708001835336562,-0.4491148196484514],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.820000000000551,"qpos":[-2.0196078215839712,-1.6322338862747785,1.6897510709707473,-1.6276547416923897,-1.570809012819493,-0.4488050340024196,0.4611789219068548,0.00029094884721009886,0.4582731407474388,-0.45083484088498493,0.46117937816690135,0.0002963516769235512,0.45821806983763114,-0.4510843428097154,0.08106311479786564,0.4777397443340008,0.3028604525115172,0.9999998516828346,-0.00047059743463134763,0.000273841501082222,1.3534960021797469e-05],"qvel":[-0.0015609265556177471,0.002251635356714791,0.03870850021509814,-0.04184609084249354,3.673975432490262e-05,-0.0015646524959246422,4.39586597722706e-06,-3.520621040196261e-06,1.1420482836347076e-06,1.7220400961351782e-05,5.0565434719483724e-06,3.870027410153206e-07,9.252337391130856e-06,-6.4186277572694095e-06,0.0008551666793915302,1.0132745144854466e-05,-0.015739685065646655,-6.987546013588154e-05,-0.0003325322103607455,-2.105941870084278e-05],"joint_position_rad":[-2.0196078215839712,-1.6322338862747785,1.6897510709707473,-1.6276547416923897,-1.570809012819493,-0.4488050340024196],"joint_velocity_rad_s":[-0.0015609265556177471,0.002251635356714791,0.03870850021509814,-0.04184609084249354,3.673975432490262e-05,-0.0015646524959246422],"linkage_position_rad":[0.4611789219068548,0.00029094884721009886,0.4582731407474388,-0.45083484088498493,0.46117937816690135,0.0002963516769235512,0.45821806983763114,-0.4510843428097154],"tcp_position_m":[0.08107350175831436,0.47716842816115634,0.30879802706454085],"tcp_quaternion_wxyz":[0.0001147731206330449,0.7071090255656218,0.7071044600545198,-0.00030880701497663405],"object_position_m":[0.08106311479786564,0.4777397443340008,0.3028604525115172],"object_quaternion_wxyz":[0.9999998516828346,-0.00047059743463134763,0.000273841501082222,1.3534960021797469e-05],"object_linear_velocity_m_s":[0.0008551666793915302,1.0132745144854466e-05,-0.015739685065646655],"object_angular_velocity_rad_s":[-6.987789592087528e-05,-0.00033255375763571195,-2.0708160629592868e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324440180597164,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.099755590423115,"right":46.10015075471317},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019911766085223,-1.6411162473407113,1.6868131555477595,-1.6408832160300098,-1.5707990050265361,-0.4491148205478055,180.0],"actuator_force":[0.0164816197438995,-18.665376274551363,-21.35923093201518,-2.4296280845607043,0.0013299210459081223,0.0015719768995268169,5.0],"issued_joint_targets_rad":[-2.0199123050619487,-1.6319584576225734,1.6972653491723566,-1.6360660613093234,-1.570799809811209,-0.4491152671308066],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.820000000000551,"joint_targets_rad":[-2.0199123050619487,-1.6319584576225734,1.6972653491723566,-1.6360660613093234,-1.570799809811209,-0.4491152671308066],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.84000000000054,"qpos":[-2.0196374330723916,-1.6321912954591817,1.6904853384240566,-1.6284497129269713,-1.5708082745548568,-0.44883476803184585,0.46117900324081873,0.00029088836563152646,0.45827316212435465,-0.45083455440505954,0.46117947099969797,0.0002963536433252482,0.4582182396617189,-0.45108442322703807,0.08107941322542393,0.47774011977251885,0.3025620558233988,0.9999998526416235,-0.0004706374794357115,0.00027025777945748145,1.3335154296755423e-05],"qvel":[-0.0014107151959218494,0.002014181481244878,0.03497127105153502,-0.037886526373958535,3.555754311103315e-05,-0.001416733243932981,3.961948930228713e-06,-2.6031831418897218e-06,1.5232131716363135e-06,1.1735089464130264e-05,4.45707871690364e-06,-1.8195185072042574e-07,7.742032791141999e-06,-2.06280396043976e-06,0.0007756094577692804,1.5100469812743684e-05,-0.014203458364439652,2.4344248083233917e-05,-0.0003689218179142263,-2.3395513161059112e-05],"joint_position_rad":[-2.0196374330723916,-1.6321912954591817,1.6904853384240566,-1.6284497129269713,-1.5708082745548568,-0.44883476803184585],"joint_velocity_rad_s":[-0.0014107151959218494,0.002014181481244878,0.03497127105153502,-0.037886526373958535,3.555754311103315e-05,-0.001416733243932981],"linkage_position_rad":[0.46117900324081873,0.00029088836563152646,0.45827316212435465,-0.45083455440505954,0.46117947099969797,0.0002963536433252482,0.4582182396617189,-0.45108442322703807],"tcp_position_m":[0.08108966443654327,0.47717068366636456,0.3084969283257417],"tcp_quaternion_wxyz":[0.00011142470163963903,0.7071089844471691,0.7071045053371635,-0.000300383944216405],"object_position_m":[0.08107941322542393,0.47774011977251885,0.3025620558233988],"object_quaternion_wxyz":[0.9999998526416235,-0.0004706374794357115,0.00027025777945748145,1.3335154296755423e-05],"object_linear_velocity_m_s":[0.0007756094577692804,1.5100469812743684e-05,-0.014203458364439652],"object_angular_velocity_rad_s":[2.4341532281207452e-05,-0.00036894303305133965,-2.306140396909512e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324415555026345,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09961617696416,"right":46.09999067785881},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019912169803983,-1.641112921963485,1.686813027992811,-1.6408903990349364,-1.570798628808164,-0.4491152679921025,180.0],"actuator_force":[0.014812615185746836,-18.648925601104565,-21.33312928310488,-2.4316904165866617,0.001267119035333053,0.0014233442649924655,5.0],"issued_joint_targets_rad":[-2.019912642716186,-1.6319556958246109,1.6972654036519232,-1.6360723977783533,-1.5707994725722303,-0.4491156720869537],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.84000000000054,"joint_targets_rad":[-2.019912642716186,-1.6319556958246109,1.6972654036519232,-1.6360723977783533,-1.5707994725722303,-0.4491156720869537],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.860000000000529,"qpos":[-2.0196641976628817,-1.6321532445996478,1.691148762320168,-1.6291694570946984,-1.5708075626247682,-0.44886169104250034,0.4611790770735713,0.00029084492791858416,0.4582731917952834,-0.45083437059987724,0.4611795532808775,0.00029634492516047685,0.4582183817265791,-0.45108442277726063,0.08109419209341694,0.47774056070236826,0.3022927777495861,0.9999998540618009,-0.00046984607031281135,0.000266362916713292,1.310890076448881e-05],"qvel":[-0.0012749477468743113,0.0017988691125623657,0.03159728840623757,-0.034301205517634104,3.426170044665798e-05,-0.001282796976574316,3.5754039975832683e-06,-1.7947631180661429e-06,1.8576491722269596e-06,6.908994101386558e-06,3.924853432156061e-06,-6.786798800997929e-07,6.405709613012003e-06,1.7433241501736124e-06,0.0007033895330935573,1.8923550421368638e-05,-0.012817268357482767,0.00010078510008656156,-0.000396832024155157,-2.536846074747568e-05],"joint_position_rad":[-2.0196641976628817,-1.6321532445996478,1.691148762320168,-1.6291694570946984,-1.5708075626247682,-0.44886169104250034],"joint_velocity_rad_s":[-0.0012749477468743113,0.0017988691125623657,0.03159728840623757,-0.034301205517634104,3.426170044665798e-05,-0.001282796976574316],"linkage_position_rad":[0.4611790770735713,0.00029084492791858416,0.4582731917952834,-0.45083437059987724,0.4611795532808775,0.00029634492516047685,0.4582183817265791,-0.45108442277726063],"tcp_position_m":[0.0811043106584074,0.4771728255635763,0.30822523885794595],"tcp_quaternion_wxyz":[0.00010806420658625849,0.7071089305953091,0.7071045632714263,-0.0002918821859211705],"object_position_m":[0.08109419209341694,0.47774056070236826,0.3022927777495861],"object_quaternion_wxyz":[0.9999998540618009,-0.00046984607031281135,0.000266362916713292,1.310890076448881e-05],"object_linear_velocity_m_s":[0.0007033895330935573,1.8923550421368638e-05,-0.012817268357482767],"object_angular_velocity_rad_s":[0.00010078207501919825,-0.00039685307039312516,-2.5049240898824767e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632439346550427,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0994904837897,"right":46.099845915692285},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199125324046454,-1.6411105074901422,1.6868134415150524,-1.6408968280479468,-1.570798289168685,-0.44911567291283877,180.0],"actuator_force":[0.013309615222169668,-18.634073426013856,-21.309556972726114,-2.433564924860889,0.0012105579969556857,0.0012887624882296222,5.0],"issued_joint_targets_rad":[-2.019912948246618,-1.631953683826447,1.6972658809601389,-1.6360780709554188,-1.570799168253946,-0.44911603854104587],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.860000000000529,"joint_targets_rad":[-2.019912948246618,-1.631953683826447,1.6972658809601389,-1.6360780709554188,-1.570799168253946,-0.44911603854104587],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.880000000000518,"qpos":[-2.0196883886395676,-1.6321193015031288,1.6917482195724065,-1.6298210852180373,-1.5708068788240352,-0.44888606876378323,0.4611791441347831,0.00029081650937936714,0.45827322862779013,-0.4508342770002103,0.46117962610070107,0.00029632690695174615,0.458218499126664,-0.4510843517775188,0.0811075921841002,0.47774105021272284,0.30204977512908326,0.9999998558413215,-0.00046838571215705775,0.00026223417822062063,1.2860620353836157e-05],"qvel":[-0.001152239802476254,0.001604141481779721,0.02855080609015867,-0.031054824812856627,3.288503932675649e-05,-0.0011615218832153925,3.2302742497820065e-06,-1.0843062308369101e-06,2.1484001596572314e-06,2.676254504408362e-06,3.451835958870763e-06,-1.110294253748474e-06,5.224388813191083e-06,5.055357067773646e-06,0.0006378447530717055,2.1792824909783467e-05,-0.011566471333208823,0.000161993704651155,-0.00041748954085379063,-2.702004075792207e-05],"joint_position_rad":[-2.0196883886395676,-1.6321193015031288,1.6917482195724065,-1.6298210852180373,-1.5708068788240352,-0.44888606876378323],"joint_velocity_rad_s":[-0.001152239802476254,0.001604141481779721,0.02855080609015867,-0.031054824812856627,3.288503932675649e-05,-0.0011615218832153925],"linkage_position_rad":[0.4611791441347831,0.00029081650937936714,0.45827322862779013,-0.4508342770002103,0.46117962610070107,0.00029632690695174615,0.458218499126664,-0.4510843517775188],"tcp_position_m":[0.08111758160805124,0.47717485323907527,0.30798008677678157],"tcp_quaternion_wxyz":[0.00010472504340016173,0.7071088666580037,0.7071046311640026,-0.0002833949864393949],"object_position_m":[0.0811075921841002,0.47774105021272284,0.30204977512908326],"object_quaternion_wxyz":[0.9999998558413215,-0.00046838571215705775,0.00026223417822062063,1.2860620353836157e-05],"object_linear_velocity_m_s":[0.0006378447530717055,2.1792824909783467e-05,-0.011566471333208823],"object_angular_velocity_rad_s":[0.00016199035239438718,-0.00041751054243017104,-2.6713898298084707e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632437365802624,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.099377185865414,"right":46.09971500257012},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019912858280913,-1.641108806048957,1.6868142462528863,-1.6409025877944576,-1.5707979825496488,-0.4491160393338914,180.0],"actuator_force":[0.011956638299125188,-18.620665684368305,-21.288269075103926,-2.435268806924455,0.001159633260499504,0.001166903267460384,5.0],"issued_joint_targets_rad":[-2.019913224696721,-1.6319522605568957,1.697266661474546,-1.6360831546770274,-1.570798893632945,-0.44911637014282263],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.880000000000518,"joint_targets_rad":[-2.019913224696721,-1.6319522605568957,1.697266661474546,-1.6360831546770274,-1.570798893632945,-0.44911637014282263],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.900000000000507,"qpos":[-2.0197102531765556,-1.6320890662969727,1.692289911969161,-1.630411037386287,-1.5708062243558198,-0.4489081418062508,0.4611792050757022,0.0002908012871536304,0.45827327159565834,-0.450834262386888,0.4611796904350058,0.00029630083432182863,0.4582185946409312,-0.45108421950390176,0.08111974145379425,0.4777415741771769,0.3018304821613355,0.9999998578924809,-0.00046639536618616,0.0002579375244775449,1.2594152237653571e-05],"qvel":[-0.0010413385981862416,0.0014284426125049747,0.025799675618985267,-0.028115399753349386,3.14551689628972e-05,-0.0010517111316918723,2.9214651427790525e-06,-4.618006258936509e-07,2.3986305767974012e-06,-1.0230403359038954e-06,3.031066470621735e-06,-1.4832994223520706e-06,4.181241383516051e-06,7.923801846359798e-06,0.0005783698394099359,2.3870013405839224e-05,-0.010437850744131881,0.00021019263924245522,-0.0004319675656370897,-2.838616132873755e-05],"joint_position_rad":[-2.0197102531765556,-1.6320890662969727,1.692289911969161,-1.630411037386287,-1.5708062243558198,-0.4489081418062508],"joint_velocity_rad_s":[-0.0010413385981862416,0.0014284426125049747,0.025799675618985267,-0.028115399753349386,3.14551689628972e-05,-0.0010517111316918723],"linkage_position_rad":[0.4611792050757022,0.0002908012871536304,0.45827327159565834,-0.450834262386888,0.4611796904350058,0.00029630083432182863,0.4582185946409312,-0.45108421950390176],"tcp_position_m":[0.08112960554327907,0.47717676753176963,0.3077588804677852],"tcp_quaternion_wxyz":[0.00010143431995374956,0.7071087949393593,0.7071047066781093,-0.00027499845442441475],"object_position_m":[0.08111974145379425,0.4777415741771769,0.3018304821613355],"object_quaternion_wxyz":[0.9999998578924809,-0.00046639536618616,0.0002579375244775449,1.2594152237653571e-05],"object_linear_velocity_m_s":[0.0005783698394099359,2.3870013405839224e-05,-0.010437850744131881],"object_angular_velocity_rad_s":[0.0002101889522911547,-0.00043198861227902903,-2.8091648315973127e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324355904959424,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.099275081040275,"right":46.0995966108339},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199131513245185,-1.6411076592345397,1.6868153249223368,-1.640907752658772,-1.570797705730331,-0.44911637090477446,180.0],"actuator_force":[0.01073914334847359,-18.608562920136137,-21.26904434124299,-2.4368176609075363,0.001113795848141308,0.001056563907383179,5.0],"issued_joint_targets_rad":[-2.019913474826618,-1.631951296794758,1.6972676517119731,-1.6360877139011853,-1.5707986457959775,-0.4491166702007496],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.900000000000507,"joint_targets_rad":[-2.019913474826618,-1.631951296794758,1.6972676517119731,-1.6360877139011853,-1.5707986457959775,-0.4491166702007496],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.920000000000496,"qpos":[-2.0197300148054613,-1.6320621708475207,1.6927794338296809,-1.630945145850387,-1.5708055999283514,-0.4489281280364211,0.46117926047874336,0.00029079762196692135,0.4582733197719475,-0.45083431667767065,0.4611797471580947,0.00029626782632738923,0.4582186707645718,-0.45108403428564664,0.0811307561578029,0.4777421208501987,0.3016325834004427,0.9999998601407362,-0.0004639934614486382,0.00025352902896054675,1.231284350133371e-05],"qvel":[-0.0009411107077393969,0.0012702488994657804,0.023314969644919033,-0.025453954590132118,2.999516875753481e-05,-0.0009522810410282962,2.6446032051371687e-06,8.181468962424112e-08,2.611528313691035e-06,-4.243322267130722e-06,2.656494274678408e-06,-1.8036329270486617e-06,3.2613197758996725e-06,1.0394495557905023e-05,0.0005244120677228126,2.5292100967282672e-05,-0.009419478519692652,0.0002473188674469822,-0.0004412035211779929,-2.9497953782007054e-05],"joint_position_rad":[-2.0197300148054613,-1.6320621708475207,1.6927794338296809,-1.630945145850387,-1.5708055999283514,-0.4489281280364211],"joint_velocity_rad_s":[-0.0009411107077393969,0.0012702488994657804,0.023314969644919033,-0.025453954590132118,2.999516875753481e-05,-0.0009522810410282962],"linkage_position_rad":[0.46117926047874336,0.00029079762196692135,0.4582733197719475,-0.45083431667767065,0.4611797471580947,0.00029626782632738923,0.4582186707645718,-0.45108403428564664],"tcp_position_m":[0.08114049893667435,0.47717857040821116,0.3075592812727639],"tcp_quaternion_wxyz":[9.821374070469078e-05,0.7071087174312185,0.7071047877996275,-0.0002667539711999623],"object_position_m":[0.0811307561578029,0.4777421208501987,0.3016325834004427],"object_quaternion_wxyz":[0.9999998601407362,-0.0004639934614486382,0.00025352902896054675,1.231284350133371e-05],"object_linear_velocity_m_s":[0.0005244120677228126,2.5292100967282672e-05,-0.009419478519692652],"object_angular_velocity_rad_s":[0.00024731484748312664,-0.0004412246727575042,-2.9213916835535195e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632434000212416,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09918307958458,"right":46.09948953830534},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019913414987497,-1.6411069405410748,1.6868165862993605,-1.6409123880479726,-1.5707974557987923,-0.44911667093376784,180.0],"actuator_force":[0.009643919023801573,-18.59763894689422,-21.251682918607912,-2.4382256397796027,0.0010725479038455887,0.0009566554294622165,5.0],"issued_joint_targets_rad":[-2.0199137011381096,-1.6319506890985347,1.6972687790915704,-1.6360918058598626,-1.570798422112386,-0.44911694171262256],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.920000000000496,"joint_targets_rad":[-2.0199137011381096,-1.6319506890985347,1.6972687790915704,-1.6360918058598626,-1.570798422112386,-0.44911694171262256],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.940000000000484,"qpos":[-2.019747875655138,-1.6320382776889366,1.6932218326305681,-1.6314286922184738,-1.570805005838824,-0.44894622472689594,0.4611793108657001,0.0002908040413305142,0.4582733723219473,-0.4508344308230367,0.4611797970539747,0.0002962288868521828,0.4582187297374293,-0.45108380359177563,0.08114074188520534,0.4777426805199239,0.3014539893687404,0.999999862523404,-0.0004612805483229216,0.00024905613259189297,1.2019622242784016e-05],"qvel":[-0.0008505308480625909,0.001128091417196828,0.021070647379372965,-0.023044240849626692,2.8524187571700254e-05,-0.0008622503761923964,2.3959204336611576e-06,5.547346399878567e-07,2.790233768076985e-06,-7.033986896723856e-06,2.322843101812371e-06,-2.076706137247119e-06,2.451327882644175e-06,1.2508997635552646e-05,0.0004754671599902613,2.6175046082435244e-05,-0.008500589781507875,0.0002750578394761875,-0.00044601487635012956,-3.0382638300523583e-05],"joint_position_rad":[-2.019747875655138,-1.6320382776889366,1.6932218326305681,-1.6314286922184738,-1.570805005838824,-0.44894622472689594],"joint_velocity_rad_s":[-0.0008505308480625909,0.001128091417196828,0.021070647379372965,-0.023044240849626692,2.8524187571700254e-05,-0.0008622503761923964],"linkage_position_rad":[0.4611793108657001,0.0002908040413305142,0.4582733723219473,-0.4508344308230367,0.4611797970539747,0.0002962288868521828,0.4582187297374293,-0.45108380359177563],"tcp_position_m":[0.08115036752422285,0.47718026469605934,0.3073791788305252],"tcp_quaternion_wxyz":[9.508039063419599e-05,0.7071086358437935,0.7071048728044718,-0.00025871030138968534],"object_position_m":[0.08114074188520534,0.4777426805199239,0.3014539893687404],"object_quaternion_wxyz":[0.999999862523404,-0.0004612805483229216,0.00024905613259189297,1.2019622242784016e-05],"object_linear_velocity_m_s":[0.0004754671599902613,2.6175046082435244e-05,-0.008500589781507875],"object_angular_velocity_rad_s":[0.0002750534959876095,-0.00044603616745171474,-3.0108161069878003e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632432576623278,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09910019441827,"right":46.09939269679812},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019913652336019,-1.6411065492166768,1.686817959962108,-1.6409165515675812,-1.570797230124534,-0.4491169424185119,180.0],"actuator_force":[0.008658977463255724,-18.587779622358994,-21.236004288669392,-2.439505589591022,0.0010354383879302986,0.0008661918112693456,5.0],"issued_joint_targets_rad":[-2.0199139058978144,-1.6319503548719332,1.697269987710185,-1.6360954810540869,-1.570798220208323,-0.44911718739373657],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.940000000000484,"joint_targets_rad":[-2.0199139058978144,-1.6319503548719332,1.697269987710185,-1.6360954810540869,-1.570798220208323,-0.44911718739373657],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.960000000000473,"qpos":[-2.019764018483608,-1.6320170786175603,1.69362166337779,-1.6318664592983911,-1.5708044420459435,-0.44896261050310143,0.4611793567048128,0.0002908192241097347,0.4582734284962054,-0.45083459671044557,0.4611798408261947,0.0002961849151049735,0.45821877356949425,-0.45108353411063246,0.08114979450902504,0.47774324520934514,0.3012928145376103,0.9999998649883275,-0.0004583416342979891,0.0002445587523510486,1.1717057401243834e-05],"qvel":[-0.000768671700501565,0.0010005710341229447,0.019043256880202877,-0.02086248194475213,2.7057974740102498e-05,-0.0007807306578020417,2.172158173718781e-06,9.643661390398583e-07,2.9377894268701815e-06,-9.439810358429408e-06,2.0254979205376038e-06,-2.3074437689194645e-06,1.7394220531795334e-06,1.4304957481179062e-05,0.00043107540640594026,2.661692262264167e-05,-0.007671469679270039,0.0002948737359485745,-0.0004471132383942887,-3.1064208391318e-05],"joint_position_rad":[-2.019764018483608,-1.6320170786175603,1.69362166337779,-1.6318664592983911,-1.5708044420459435,-0.44896261050310143],"joint_velocity_rad_s":[-0.000768671700501565,0.0010005710341229447,0.019043256880202877,-0.02086248194475213,2.7057974740102498e-05,-0.0007807306578020417],"linkage_position_rad":[0.4611793567048128,0.0002908192241097347,0.4582734284962054,-0.45083459671044557,0.4611798408261947,0.0002961849151049735,0.45821877356949425,-0.45108353411063246],"tcp_position_m":[0.08115930726729033,0.4771818538660297,0.3072166688154177],"tcp_quaternion_wxyz":[9.204741955284006e-05,0.7071085516348864,0.7071049602276499,-0.0002509054380813154],"object_position_m":[0.08114979450902504,0.47774324520934514,0.3012928145376103],"object_quaternion_wxyz":[0.9999998649883275,-0.0004583416342979891,0.0002445587523510486,1.1717057401243834e-05],"object_linear_velocity_m_s":[0.00043107540640594026,2.661692262264167e-05,-0.007671469679270039],"object_angular_velocity_rad_s":[0.0002948690848197179,-0.00044713468263093314,-3.079856407031771e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632431303263612,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.099025532106324,"right":46.099305101673565},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199138660970246,-1.6411064052751756,1.686819392052907,-1.640920294034525,-1.5707970263329174,-0.44911718807417017,180.0],"actuator_force":[0.007773453367462935,-18.578881728879423,-21.22184540184753,-2.4406691735918002,0.0010020590390240613,0.0007842802458526421,5.0],"issued_joint_targets_rad":[-2.0199140911584887,-1.631950228354862,1.6972712349372223,-1.6360987841130639,-1.5707980379428301,-0.4491174097027528],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.960000000000473,"joint_targets_rad":[-2.0199140911584887,-1.631950228354862,1.6972712349372223,-1.6360987841130639,-1.5707980379428301,-0.4491174097027528],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":8.980000000000462,"qpos":[-2.0197786085206215,-1.6319982930715307,1.6939830374059333,-1.6322627780835337,-1.5708039082324634,-0.44897744710591997,0.4611793984168825,0.00029084198637444297,0.4582734876237482,-0.45083480707655094,0.46117987910649055,0.0002961367152694657,0.45821880406379817,-0.4510832318227951,0.08115800105732138,0.47774380841911673,0.30114735744728915,0.9999998674925832,-0.0004552482380233384,0.00024007025983511412,1.140740795495208e-05],"qvel":[-0.000694694662722974,0.0008863679873300815,0.0172116697755157,-0.01888714149366278,2.560934911810262e-05,-0.0007069173901042066,1.9704897069645682e-06,1.3173994966335484e-06,3.0571056616585275e-06,-1.1501343621518454e-05,1.760412228643223e-06,-2.5003215012599565e-06,1.115041468535706e-06,1.5816450640529164e-05,0.0003908180239854614,2.6700585094535344e-05,-0.006923351185874285,0.00030803626933286404,-0.000445116893479911,-3.1563972513738535e-05],"joint_position_rad":[-2.0197786085206215,-1.6319982930715307,1.6939830374059333,-1.6322627780835337,-1.5708039082324634,-0.44897744710591997],"joint_velocity_rad_s":[-0.000694694662722974,0.0008863679873300815,0.0172116697755157,-0.01888714149366278,2.560934911810262e-05,-0.0007069173901042066],"linkage_position_rad":[0.4611793984168825,0.00029084198637444297,0.4582734876237482,-0.45083480707655094,0.46117987910649055,0.0002961367152694657,0.45821880406379817,-0.4510832318227951],"tcp_position_m":[0.0811674052337942,0.47718334185405237,0.30707003284166456],"tcp_quaternion_wxyz":[8.912463844283561e-05,0.7071084660373855,0.7071050488343064,-0.000243368213183613],"object_position_m":[0.08115800105732138,0.47774380841911673,0.30114735744728915],"object_quaternion_wxyz":[0.9999998674925832,-0.0004552482380233384,0.00024007025983511412,1.140740795495208e-05],"object_linear_velocity_m_s":[0.0003908180239854614,2.6700585094535344e-05,-0.006923351185874285],"object_angular_velocity_rad_s":[0.0003080313314874953,-0.0004451384874587608,-3.130658479507459e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324301653335974,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098958284469646,"right":46.09922586223159},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019914058698722,-1.6411064454501536,1.6868208418653978,-1.640923660349954,-1.5707968422814145,-0.4491174103592907,180.0],"actuator_force":[0.006977508888212469,-18.57085195217769,-21.209058991276834,-2.441726983843864,0.0009720406126234593,0.000710112325037926,5.0],"issued_joint_targets_rad":[-2.0199142587786056,-1.631950257368263,1.6972724886727335,-1.6361017545361085,-1.5707978733857773,-0.449117610865384],"issued_gripper_0_255":180.0,"command":{"t_seconds":8.980000000000462,"joint_targets_rad":[-2.0199142587786056,-1.631950257368263,1.6972724886727335,-1.6361017545361085,-1.5707978733857773,-0.449117610865384],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.000000000000451,"qpos":[-2.0197917951378064,-1.6319816663871236,1.694309666205754,-1.6326215703330746,-1.5708034038589012,-0.44899088098765216,0.461179436380576,0.0002908712684517915,0.45827354910557166,-0.4508350554268696,0.4611799124624013,0.00029608500536076535,0.45821882283699394,-0.4510829020677829,0.08116544051068307,0.47774436490618827,0.3010160827591586,0.9999998700012571,-0.0004520601937448091,0.00023561834400574524,1.109266359519542e-05],"qvel":[-0.0006278414514072584,0.0007842472341698817,0.015556844588385674,-0.017098713175357383,2.418861210890688e-05,-0.0006400821197523749,1.7884538944599168e-06,1.6198739815907274e-06,3.1509373588010018e-06,-1.3255273653046439e-05,1.5240280570454668e-06,-2.6594018266896775e-06,5.68758651220794e-07,1.707429480882315e-05,0.0003543137534551326,2.649593210705855e-05,-0.006248322799522889,0.00031564441551612174,-0.00044056195344178235,-3.190098315208598e-05],"joint_position_rad":[-2.0197917951378064,-1.6319816663871236,1.694309666205754,-1.6326215703330746,-1.5708034038589012,-0.44899088098765216],"joint_velocity_rad_s":[-0.0006278414514072584,0.0007842472341698817,0.015556844588385674,-0.017098713175357383,2.418861210890688e-05,-0.0006400821197523749],"linkage_position_rad":[0.461179436380576,0.0002908712684517915,0.45827354910557166,-0.4508350554268696,0.4611799124624013,0.00029608500536076535,0.45821882283699394,-0.4510829020677829],"tcp_position_m":[0.08117474040428553,0.47718473291678093,0.3069377203237205],"tcp_quaternion_wxyz":[8.631903821998041e-05,0.7071083800848561,0.7071051375929047,-0.00023611970036504972],"object_position_m":[0.08116544051068307,0.47774436490618827,0.3010160827591586],"object_quaternion_wxyz":[0.9999998700012571,-0.0004520601937448091,0.00023561834400574524,1.109266359519542e-05],"object_linear_velocity_m_s":[0.0003543137534551326,2.649593210705855e-05,-0.006248322799522889],"object_angular_velocity_rad_s":[0.000315639215661617,-0.0004405836803276982,-3.165139425749658e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632429149522651,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09889772083164,"right":46.09915417292548},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199142323058026,-1.6411066199157232,1.6868222790991985,-1.6409266902516102,-1.5707966760376988,-0.4491176114994872,180.0],"actuator_force":[0.006262244570280018,-18.563605950866986,-21.197512048464887,-2.442688641731934,0.0009450493903386814,0.0006429560577316806,5.0],"issued_joint_targets_rad":[-2.0199144104402964,-1.631950400672748,1.6972737251421026,-1.6361044273338023,-1.5707977247976195,-0.4491177928960452],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.000000000000451,"joint_targets_rad":[-2.0199144104402964,-1.631950400672748,1.6972737251421026,-1.6361044273338023,-1.5707977247976195,-0.4491177928960452],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.02000000000044,"qpos":[-2.0198037133619713,-1.631966968000826,1.694604900811017,-1.6329463871563203,-1.5708029282095224,-0.4490030447570888,0.46117947093705564,0.0002909061230944557,0.45827361240845904,-0.45083533596238107,0.46117994140400576,0.0002960304253369788,0.4582188313378743,-0.45108254960504035,0.08117218453144913,0.47774491049330564,0.30089760505369784,0.9999998724863247,-0.0004488272347612092,0.00023122577090888685,1.0774578562826109e-05],"qvel":[-0.0005674264818687699,0.0006930606234681818,0.014061615330569589,-0.015479530146970238,2.280391040364899e-05,-0.000579565246430829,1.6239014852498644e-06,1.8772379405709876e-06,3.2218709712874803e-06,-1.4734762337147918e-05,1.3132099319014897e-06,-2.78836772123868e-06,9.21508304073503e-08,1.8106336862691332e-05,0.0003212156914549954,2.6061830755305602e-05,-0.005639245200106344,0.00031864741041737573,-0.0004339122548248468,-3.209237725524678e-05],"joint_position_rad":[-2.0198037133619713,-1.631966968000826,1.694604900811017,-1.6329463871563203,-1.5708029282095224,-0.4490030447570888],"joint_velocity_rad_s":[-0.0005674264818687699,0.0006930606234681818,0.014061615330569589,-0.015479530146970238,2.280391040364899e-05,-0.000579565246430829],"linkage_position_rad":[0.46117947093705564,0.0002909061230944557,0.45827361240845904,-0.45083533596238107,0.46117994140400576,0.0002960304253369788,0.4582188313378743,-0.45108254960504035],"tcp_position_m":[0.08118138440848681,0.477186031514748,0.30681833210302706],"tcp_quaternion_wxyz":[8.363524016535433e-05,0.7071082946351386,0.707105225650617,-0.00022917443499692006],"object_position_m":[0.08117218453144913,0.47774491049330564,0.30089760505369784],"object_quaternion_wxyz":[0.9999998724863247,-0.0004488272347612092,0.00023122577090888685,1.0774578562826109e-05],"object_linear_velocity_m_s":[0.0003212156914549954,2.6061830755305602e-05,-0.005639245200106344],"object_angular_velocity_rad_s":[0.00031864197591849975,-0.0004339340874830242,-3.185022188000059e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632428243853689,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098843180925535,"right":46.09908930539038},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019914388850147,-1.6411068896309364,1.686823681654394,-1.6409294189628887,-1.5707965258595313,-0.4491177935090869,180.0],"actuator_force":[0.005619616395506455,-18.55706750960826,-21.18708444547383,-2.4435628885871665,0.000920783955166371,0.0005821486440140689,5.0],"issued_joint_targets_rad":[-2.0199145476657536,-1.63195062582681,1.6972749271247163,-1.6361068335825635,-1.5707975906109017,-0.449117957617609],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.02000000000044,"joint_targets_rad":[-2.0199145476657536,-1.63195062582681,1.6972749271247163,-1.6361068335825635,-1.5707975906109017,-0.449117957617609],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.040000000000429,"qpos":[-2.0198144852458597,-1.6319539896484563,1.6948717672146132,-1.6332404439733583,-1.5708024804315537,-0.44901405848797254,0.46117950239402844,0.000290945704685981,0.4582736770591596,-0.45083564351257205,0.46117996638988995,0.00029597354451886706,0.45821883086404136,-0.45108217866958583,0.08117829812979113,0.4777454419051316,0.3007906742051434,0.9999998749256354,-0.00044559038141326414,0.00022691105185515152,1.0454699988428629e-05],"qvel":[-0.0005128299560910248,0.0006117467092644494,0.012710502463049693,-0.01401359222502575,2.1461553665406318e-05,-0.0005247695138915024,1.4749499570605858e-06,2.0944035612775506e-06,3.272317905928475e-06,-1.596976088203674e-05,1.1251888052905895e-06,-2.8905544000343524e-06,-3.223125460635374e-07,1.893772025920107e-05,0.00029120835220892516,2.5447754373391667e-05,-0.0050896759973385825,0.0003178633116217987,-0.00042556813969129225,-3.215364762840902e-05],"joint_position_rad":[-2.0198144852458597,-1.6319539896484563,1.6948717672146132,-1.6332404439733583,-1.5708024804315537,-0.44901405848797254],"joint_velocity_rad_s":[-0.0005128299560910248,0.0006117467092644494,0.012710502463049693,-0.01401359222502575,2.1461553665406318e-05,-0.0005247695138915024],"linkage_position_rad":[0.46117950239402844,0.000290945704685981,0.4582736770591596,-0.45083564351257205,0.46117996638988995,0.00029597354451886706,0.45821883086404136,-0.45108217866958583],"tcp_position_m":[0.08118740219759978,0.47718724221841957,0.30671060566978126],"tcp_quaternion_wxyz":[8.107588624483267e-05,0.7071082103919408,0.7071053123109026,-0.00022254147287378422],"object_position_m":[0.08117829812979113,0.4777454419051316,0.3007906742051434],"object_quaternion_wxyz":[0.9999998749256354,-0.00044559038141326414,0.00022691105185515152,1.0454699988428629e-05],"object_linear_velocity_m_s":[0.00029120835220892516,2.5447754373391667e-05,-0.0050896759973385825],"object_angular_velocity_rad_s":[0.00031785767151621693,-0.00042559004341331287,-3.191863181653222e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632427437544711,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09879406838937,"right":46.09903060118582},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199145300576395,-1.6411072241911717,1.686825033862374,-1.640931877753343,-1.5707963901763775,-0.44911795821088313,180.0],"actuator_force":[0.005042358876835351,-18.55116776913701,-21.177667689697955,-2.444357667489726,0.0008989722215346774,0.0005270899338540858,5.0],"issued_joint_targets_rad":[-2.0199146718322014,-1.631950907451479,1.6972760825334503,-1.6361090009049106,-1.5707974694134093,-0.4491181066793957],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.040000000000429,"joint_targets_rad":[-2.0199146718322014,-1.631950907451479,1.6972760825334503,-1.6361090009049106,-1.5707974694134093,-0.4491181066793957],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.060000000000418,"qpos":[-2.019824221109399,-1.6319425435987123,1.6951129982306545,-1.6335066521899482,-1.5708020595684784,-0.4490240309037748,0.4611795310293004,0.0002909892594052887,0.45827374263893866,-0.45083597347442855,0.4611799878324483,0.00029591486836569173,0.45821882257692215,-0.45108179302274776,0.08118384027154779,0.47774595662733327,0.3006941621800988,0.9999998773020092,-0.0004423831563119547,0.0002226890303457909,1.0134391806331355e-05],"qvel":[-0.0004634915962125797,0.000539328853225541,0.011489543689137911,-0.012686409195298416,2.0166292048887223e-05,-0.0004751541167849771,1.339945580271543e-06,2.275796928633929e-06,3.30451337937876e-06,-1.698729656125069e-05,9.575141131326242e-07,-2.968978764968321e-06,-6.813688956104634e-07,1.9591128037473052e-05,0.00026400494932958855,2.4695177677033608e-05,-0.004593801790097773,0.00031399539426752696,-0.00041587423887647166,-3.2098859875379216e-05],"joint_position_rad":[-2.019824221109399,-1.6319425435987123,1.6951129982306545,-1.6335066521899482,-1.5708020595684784,-0.4490240309037748],"joint_velocity_rad_s":[-0.0004634915962125797,0.000539328853225541,0.011489543689137911,-0.012686409195298416,2.0166292048887223e-05,-0.0004751541167849771],"linkage_position_rad":[0.4611795310293004,0.0002909892594052887,0.45827374263893866,-0.45083597347442855,0.4611799878324483,0.00029591486836569173,0.45821882257692215,-0.45108179302274776],"tcp_position_m":[0.08119285265742336,0.4771883696332101,0.30661340182484403],"tcp_quaternion_wxyz":[7.864197660378018e-05,0.7071081279244604,0.7071053970132173,-0.0002162253070637324],"object_position_m":[0.08118384027154779,0.47774595662733327,0.3006941621800988],"object_quaternion_wxyz":[0.9999998773020092,-0.0004423831563119547,0.0002226890303457909,1.0134391806331355e-05],"object_linear_velocity_m_s":[0.00026400494932958855,2.4695177677033608e-05,-0.004593801790097773],"object_angular_velocity_rad_s":[0.00031398957842501094,-0.00041589617370866824,-3.187074399158419e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324267208857864,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098749844781715,"right":46.098977465165554},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199146574716265,-1.641107600091453,1.6868263250691888,-1.6409340944233712,-1.5707962675726541,-0.44911810725412393,180.0],"actuator_force":[0.004523914030414744,-18.545844526771816,-21.169163798586396,-2.44508019718171,0.0008793687071602108,0.00047723650394004835,5.0],"issued_joint_targets_rad":[-2.019914784185529,-1.6319512258255007,1.697277183277563,-1.6361109538859224,-1.5707973599328724,-0.449118241573547],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.060000000000418,"joint_targets_rad":[-2.019914784185529,-1.6319512258255007,1.697277183277563,-1.6361109538859224,-1.5707973599328724,-0.449118241573547],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.080000000000407,"qpos":[-2.019833020663394,-1.6319324609476618,1.6953310621726134,-1.6337476478934725,-1.5708016645881824,-0.44903306045048746,0.4611795570939113,0.00029103611627364777,0.45827380877850976,-0.45083632175692,0.46118000610260496,0.00029585484465785724,0.4582188075153032,-0.45108139599837266,0.08118886443243714,0.4777464527854972,0.30060705112200664,0.9999998796024404,-0.0004392326470057691,0.000218571396952495,9.814855095230537e-06],"qvel":[-0.00041890496542568064,0.00047491212050255056,0.010386142361434746,-0.011484858763233659,1.8921557988208746e-05,-0.000430229364940101,1.2174317600518153e-06,2.4254037947488856e-06,3.3205185996835527e-06,-1.781173917816172e-05,8.080132968586552e-07,-3.026366900799427e-06,-9.91048864039495e-07,2.0087008088094152e-05,0.00023934488799250928,2.383876625153596e-05,-0.004146376830820046,0.00030764662181644606,-0.00040512636274100944,-3.1940826962990005e-05],"joint_position_rad":[-2.019833020663394,-1.6319324609476618,1.6953310621726134,-1.6337476478934725,-1.5708016645881824,-0.44903306045048746],"joint_velocity_rad_s":[-0.00041890496542568064,0.00047491212050255056,0.010386142361434746,-0.011484858763233659,1.8921557988208746e-05,-0.000430229364940101],"linkage_position_rad":[0.4611795570939113,0.00029103611627364777,0.45827380877850976,-0.45083632175692,0.46118000610260496,0.00029585484465785724,0.4582188075153032,-0.45108139599837266],"tcp_position_m":[0.08119778916704705,0.47718941834016776,0.30652569264186585],"tcp_quaternion_wxyz":[7.633316071174632e-05,0.7071080476851056,0.7071054793147608,-0.00021022666009149578],"object_position_m":[0.08118886443243714,0.4777464527854972,0.30060705112200664],"object_quaternion_wxyz":[0.9999998796024404,-0.0004392326470057691,0.000218571396952495,9.814855095230537e-06],"object_linear_velocity_m_s":[0.00023934488799250928,2.383876625153596e-05,-0.004146376830820046],"object_angular_velocity_rad_s":[0.00030764066023661443,-0.00040514828544342826,-3.1719412058573934e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463242608512932,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0987100241455,"right":46.09892935948245},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199147724734807,-1.641107999324279,1.6868275485034852,-1.640936093723932,-1.570796156772515,-0.44911824213088386,180.0],"actuator_force":[0.004058365996570501,-18.541041601435154,-21.16148428283077,-2.4457370389063726,0.0008617520347797836,0.00043209629581042464,5.0],"issued_joint_targets_rad":[-2.0199148858526987,-1.631951565749169,1.6972782243543938,-1.6361127144349412,-1.5707972610231014,-0.4491183636499005],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.080000000000407,"joint_targets_rad":[-2.0199148858526987,-1.631951565749169,1.6972782243543938,-1.6361127144349412,-1.5707972610231014,-0.4491183636499005],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.100000000000396,"qpos":[-2.019840974026558,-1.63192358999222,1.6955281886766596,-1.6339658178484457,-1.5708012944066292,-0.44904123626801945,0.461179580814902,0.000291085679016732,0.45827387515334095,-0.4508366847305397,0.4611800215340237,0.0002957938691288236,0.45821878660753007,-0.4510809905448638,0.08119341910300669,0.4777469290411695,0.3005284225966801,0.9999998818174047,-0.0004361604340359641,0.00021456714038599128,9.497145521464998e-06],"qvel":[-0.0003786123230660956,0.00041767936051769134,0.009388931555920233,-0.010397057791863135,1.7729676378109804e-05,-0.0003895518521976336,1.1061222573167713e-06,2.5468111799128672e-06,3.322226285217145e-06,-1.846504482734839e-05,6.747569238880652e-07,-3.065179605817554e-06,-1.256753071658979e-06,2.0443778260781267e-05,0.000216991456393263,2.2907391484612346e-05,-0.0037426676562338944,0.0002993324070979707,-0.00039357759681412594,-3.16912509558691e-05],"joint_position_rad":[-2.019840974026558,-1.63192358999222,1.6955281886766596,-1.6339658178484457,-1.5708012944066292,-0.44904123626801945],"joint_velocity_rad_s":[-0.0003786123230660956,0.00041767936051769134,0.009388931555920233,-0.010397057791863135,1.7729676378109804e-05,-0.0003895518521976336],"linkage_position_rad":[0.461179580814902,0.000291085679016732,0.45827387515334095,-0.4508366847305397,0.4611800215340237,0.0002957938691288236,0.45821878660753007,-0.4510809905448638],"tcp_position_m":[0.0812022601075911,0.47719039284959663,0.30644655060321346],"tcp_quaternion_wxyz":[7.414798788770879e-05,0.7071079700254148,0.7071055588741364,-0.0002045431667188453],"object_position_m":[0.08119341910300669,0.4777469290411695,0.3005284225966801],"object_quaternion_wxyz":[0.9999998818174047,-0.0004361604340359641,0.00021456714038599128,9.497145521464998e-06],"object_linear_velocity_m_s":[0.000216991456393263,2.2907391484612346e-05,-0.0037426676562338944],"object_angular_velocity_rad_s":[0.0002993263293369855,-0.0003935994624836458,-3.1476367935771174e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632425522392262,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09867416801959,"right":46.09888579811585},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199148763006582,-1.6411084082489307,1.686828700374016,-1.6409378977206202,-1.5707960566260555,-0.4491183641909381,180.0],"actuator_force":[0.0036403810254341806,-18.536708257628106,-21.154549227655025,-2.446334156900889,0.0008459226489776484,0.0003912237604595248,5.0],"issued_joint_targets_rad":[-2.0199149778530234,-1.631951915626421,1.6972792031256123,-1.636114302100233,-1.5707971716514488,-0.4491184741294982],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.100000000000396,"joint_targets_rad":[-2.0199149778530234,-1.631951915626421,1.6972792031256123,-1.636114302100233,-1.5707971716514488,-0.4491184741294982],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.120000000000385,"qpos":[-2.0198481626458,-1.6319157946941516,1.6957063919633504,-1.6341633230443182,-1.5708009479076472,-0.4490486390697838,0.46117960239776684,0.0002911374186720002,0.4582739414793249,-0.4508370591814712,0.46118003442686806,0.00029573229059260005,0.45821876068250883,-0.4510805792633927,0.08119754824839531,0.47774738450268733,0.3004574478861226,0.9999998839402571,-0.00043318340032195177,0.00021068294209931781,9.182188423815912e-06],"qvel":[-0.0003421999652401251,0.00036688677397088713,0.008487652101021962,-0.009412245596756626,1.6592046749839446e-05,-0.0003527200820531031,1.0048783898254346e-06,2.64324517021335e-06,3.3113674235453014e-06,-1.896697832843934e-05,5.560287831372024e-07,-3.0876357681436246e-06,-1.4833192602313925e-06,2.0678013394977697e-05,0.00019672970399292538,2.19249971146506e-05,-0.003378403106843238,0.00028949185598424297,-0.0003814436891622514,-3.1360838994583454e-05],"joint_position_rad":[-2.0198481626458,-1.6319157946941516,1.6957063919633504,-1.6341633230443182,-1.5708009479076472,-0.4490486390697838],"joint_velocity_rad_s":[-0.0003421999652401251,0.00036688677397088713,0.008487652101021962,-0.009412245596756626,1.6592046749839446e-05,-0.0003527200820531031],"linkage_position_rad":[0.46117960239776684,0.0002911374186720002,0.4582739414793249,-0.4508370591814712,0.46118003442686806,0.00029573229059260005,0.45821876068250883,-0.4510805792633927],"tcp_position_m":[0.08120630932516057,0.4771912975653462,0.306375138795518],"tcp_quaternion_wxyz":[7.208412226681201e-05,0.7071078952102812,0.7071056354368075,-0.00019916996085156462],"object_position_m":[0.08119754824839531,0.47774738450268733,0.3004574478861226],"object_quaternion_wxyz":[0.9999998839402571,-0.00043318340032195177,0.00021068294209931781,9.182188423815912e-06],"object_linear_velocity_m_s":[0.00019672970399292538,2.19249971146506e-05,-0.003378403106843238],"object_angular_velocity_rad_s":[0.0002894856906985282,-0.00038146545255533023,-3.1152340087183786e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632425025568662,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09864188093815,"right":46.098846341948345},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199149700625836,-1.6411088166809555,1.686829779152159,-1.6409395261100301,-1.570795966096833,-0.4491184746552697,180.0],"actuator_force":[0.003265152529365878,-18.532798683196233,-21.14828646279193,-2.446876973180224,0.0008317007321920755,0.00035421546235170354,5.0],"issued_joint_targets_rad":[-2.019915061108397,-1.6319522667241506,1.6972801187421995,-1.6361157343432011,-1.5707970908874875,-0.44911857411683315],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.120000000000385,"joint_targets_rad":[-2.019915061108397,-1.6319522667241506,1.6972801187421995,-1.6361157343432011,-1.5707970908874875,-0.44911857411683315],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.140000000000374,"qpos":[-2.019854660128841,-1.6319089532411728,1.6958674917991334,-1.6343421200248864,-1.5708006239593695,-0.44905534193915675,0.4611796220286313,0.0002911908668806765,0.4582740075088001,-0.4508374422700163,0.4611800450511672,0.0002956704156063984,0.45821873047963096,-0.4510801644425993,0.08120129172670497,0.4777478186487911,0.3003933792287454,0.9999998859667191,-0.00043031443602298486,0.0002069235209796294,8.870791967163151e-06],"qvel":[-0.0003092940062119732,0.0003218591956579704,0.00767304305278657,-0.008520678179602696,1.5509300801971415e-05,-0.0003193705067904433,9.12690211726587e-07,2.717605507488008e-06,3.2895198883801053e-06,-1.9335319360877967e-05,4.5030046667133465e-07,-3.095734227792072e-06,-1.675082132633605e-06,2.0804618415957928e-05,0.0001783644956822798,2.0911339525098073e-05,-0.0030497292130011295,0.0002784976653930889,-0.0003689078062029776,-3.095939942655779e-05],"joint_position_rad":[-2.019854660128841,-1.6319089532411728,1.6958674917991334,-1.6343421200248864,-1.5708006239593695,-0.44905534193915675],"joint_velocity_rad_s":[-0.0003092940062119732,0.0003218591956579704,0.00767304305278657,-0.008520678179602696,1.5509300801971415e-05,-0.0003193705067904433],"linkage_position_rad":[0.4611796220286313,0.0002911908668806765,0.4582740075088001,-0.4508374422700163,0.4611800450511672,0.0002956704156063984,0.45821873047963096,-0.4510801644425993],"tcp_position_m":[0.08120997655190658,0.47719213675785555,0.30631070206171535],"tcp_quaternion_wxyz":[7.013852669996284e-05,0.7071078234306103,0.7071057088221899,-0.00019410017855051942],"object_position_m":[0.08120129172670497,0.4777478186487911,0.3003933792287454],"object_quaternion_wxyz":[0.9999998859667191,-0.00043031443602298486,0.0002069235209796294,8.870791967163151e-06],"object_linear_velocity_m_s":[0.0001783644956822798,2.0911339525098073e-05,-0.0030497292130011295],"object_angular_velocity_rad_s":[0.0002784914399869143,-0.0003689294227937828,-3.07571515392548e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632424588251436,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098612806288926,"right":46.09881059425385},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019915054754642,-1.6411092171600936,1.6868307850033812,-1.640940996495171,-1.5707958842505936,-0.449118574628316,180.0],"actuator_force":[0.0029283508829394123,-18.529271516104473,-21.142630812619245,-2.447370417181901,0.0008189243077367792,0.0003207060993872801,5.0],"issued_joint_targets_rad":[-2.019915136452582,-1.6319526125753212,1.6972809716891253,-1.6361170267777934,-1.5707970178928,-0.44911866461096017],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.140000000000374,"joint_targets_rad":[-2.019915136452582,-1.6319526125753212,1.6972809716891253,-1.6361170267777934,-1.5707970178928,-0.44911866461096017],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.160000000000363,"qpos":[-2.0198605329973467,-1.6319029567079524,1.6960131323911054,-1.6345039802073427,-1.5708003214277795,-0.4490614110506647,0.4611796398761943,0.0002912456098060025,0.45827407302690587,-0.4508378314928992,0.4611800536498333,0.00029560851270665463,0.4582186966577278,-0.4510797480900935,0.08120468566951276,0.4777482312632796,0.3003355419139425,0.9999998878944388,-0.0004275630514199483,0.00020329193396851012,8.563658705449048e-06],"qvel":[-0.00027955656003350214,0.0002819852659089425,0.00693674328361551,-0.0077135323840433045,1.4481438244275917e-05,-0.00028917394105346176,8.28659800741253e-07,2.7724967663954526e-06,3.2581172381709747e-06,-1.958604744453106e-05,3.56208866536576e-07,-3.091273566726144e-06,-1.8359261148097276e-06,2.0836983299524027e-05,0.00016171872883455807,1.9882620464473986e-05,-0.0027531684755652667,0.0002666648287653878,-0.00035612472838827464,-3.0495922395890207e-05],"joint_position_rad":[-2.0198605329973467,-1.6319029567079524,1.6960131323911054,-1.6345039802073427,-1.5708003214277795,-0.4490614110506647],"joint_velocity_rad_s":[-0.00027955656003350214,0.0002819852659089425,0.00693674328361551,-0.0077135323840433045,1.4481438244275917e-05,-0.00028917394105346176],"linkage_position_rad":[0.4611796398761943,0.0002912456098060025,0.45827407302690587,-0.4508378314928992,0.4611800536498333,0.00029560851270665463,0.4582186966577278,-0.4510797480900935],"tcp_position_m":[0.08121329778878485,0.47719291454439033,0.30625255901644455],"tcp_quaternion_wxyz":[6.830761953863102e-05,0.7071077548145239,0.7071057789122708,-0.00018932538773882974],"object_position_m":[0.08120468566951276,0.4777482312632796,0.3003355419139425],"object_quaternion_wxyz":[0.9999998878944388,-0.0004275630514199483,0.00020329193396851012,8.563658705449048e-06],"object_linear_velocity_m_s":[0.00016171872883455807,1.9882620464473986e-05,-0.0027531684755652667],"object_angular_velocity_rad_s":[0.00026665856912904806,-0.00035614615519655624,-3.029980200646952e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324242046623644,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.0985866225943,"right":46.098778196653},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199151312705284,-1.6411096043626974,1.6868317193384461,-1.6409423246257024,-1.5707958102451012,-0.4491186651090786,180.0],"actuator_force":[0.002626077649892977,-18.526089415853676,-21.137523418764886,-2.447818970775529,0.0008074475147168414,0.00029036489840450486,5.0],"issued_joint_targets_rad":[-2.01991520463962,-1.6319529484987034,1.697281763426269,-1.6361181933799023,-1.5707969519117755,-0.4491187465155534],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.160000000000363,"joint_targets_rad":[-2.01991520463962,-1.6319529484987034,1.697281763426269,-1.6361181933799023,-1.5707969519117755,-0.4491187465155534],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.180000000000351,"qpos":[-2.0198658413681017,-1.6318977078170562,1.696144799423715,-1.6346505073796447,-1.570800039187771,-0.44906690632301416,0.4611796560934516,0.00029130128262242616,0.4582741378482449,-0.45083822464911383,0.46118006044135995,0.0002955468162552499,0.4582186598031435,-0.45107933196100264,0.08120776282778708,0.4777486223792031,0.30028332714788625,0.9999998897226152,-0.00042493590893200533,0.00019978983780510927,8.26139582303663e-06],"qvel":[-0.0002526822851001585,0.0002467126185510373,0.0062712030057537884,-0.006982819050350555,1.3507943598276819e-05,-0.00026183231435230914,7.519871170996891e-07,2.810256921303448e-06,3.218457724205229e-06,-1.9733513155346458e-05,2.725367683876701e-07,-3.0758704206290837e-06,-1.9693326400516264e-06,2.0787128287275388e-05,0.0001466317025641052,1.8852027977906018e-05,-0.002485583114555425,0.00025425828555464925,-0.00034322454644702434,-2.997864845503307e-05],"joint_position_rad":[-2.0198658413681017,-1.6318977078170562,1.696144799423715,-1.6346505073796447,-1.570800039187771,-0.44906690632301416],"joint_velocity_rad_s":[-0.0002526822851001585,0.0002467126185510373,0.0062712030057537884,-0.006982819050350555,1.3507943598276819e-05,-0.00026183231435230914],"linkage_position_rad":[0.4611796560934516,0.00029130128262242616,0.4582741378482449,-0.45083822464911383,0.46118006044135995,0.0002955468162552499,0.4582186598031435,-0.45107933196100264],"tcp_position_m":[0.08121630565335032,0.4771936348751404,0.30620009484070376],"tcp_quaternion_wxyz":[6.658740779515846e-05,0.7071076894372446,0.70710584564159,-0.00018483595396005196],"object_position_m":[0.08120776282778708,0.4777486223792031,0.30028332714788625],"object_quaternion_wxyz":[0.9999998897226152,-0.00042493590893200533,0.00019978983780510927,8.26139582303663e-06],"object_linear_velocity_m_s":[0.0001466317025641052,1.8852027977906018e-05,-0.002485583114555425],"object_angular_velocity_rad_s":[0.00025425201588029914,-0.000343245742668075,-2.978853774845411e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324238695893076,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09856304010434,"right":46.09874882541476},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019915200413164,-1.6411099746310749,1.6868325844607657,-1.640943524607899,-1.5707957433209694,-0.449118747001181,180.0],"actuator_force":[0.002354823915538873,-18.523218675457883,-21.13291112820025,-2.4482267090920686,0.0007971390409693413,0.0002628923518273041,5.0],"issued_joint_targets_rad":[-2.019915266351458,-1.6319532712131029,1.6972824961065658,-1.6361192466708607,-1.570796892263327,-0.44911882064802133],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.180000000000351,"joint_targets_rad":[-2.019915266351458,-1.6319532712131029,1.6972824961065658,-1.6361192466708607,-1.570796892263327,-0.44911882064802133],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.20000000000034,"qpos":[-2.019870639568993,-1.631893119797829,1.6962638354241266,-1.6347831535473196,-1.5707997761320733,-0.44907188201040593,0.4611796708192415,0.00029135756452796795,0.45827420181384243,-0.4508386198090191,0.46118006562225045,0.00029548552992679527,0.4582186204370228,-0.45107891758383983,0.08121055288622861,0.47774899223129724,0.3002361856154616,0.9999998914516879,-0.0004224372841095751,0.00019641771651353294,7.964524270321761e-06],"qvel":[-0.00022839525781456695,0.00021554317824746722,0.005669604184631137,-0.006321304330228756,1.2587886336376635e-05,-0.00023707573051672088,6.819587027784449e-07,2.832983090893233e-06,3.171714751951622e-06,-1.979059302807611e-05,1.981967347497656e-07,-3.0509764982651312e-06,-2.0784218380516844e-06,2.0665830784000035e-05,0.00013295762740148922,1.783019899269215e-05,-0.0022441419004348307,0.00024149963607842417,-0.00033031591613645085,-2.9415127914517095e-05],"joint_position_rad":[-2.019870639568993,-1.631893119797829,1.6962638354241266,-1.6347831535473196,-1.5707997761320733,-0.44907188201040593],"joint_velocity_rad_s":[-0.00022839525781456695,0.00021554317824746722,0.005669604184631137,-0.006321304330228756,1.2587886336376635e-05,-0.00023707573051672088],"linkage_position_rad":[0.4611796708192415,0.00029135756452796795,0.45827420181384243,-0.4508386198090191,0.46118006562225045,0.00029548552992679527,0.4582186204370228,-0.45107891758383983],"tcp_position_m":[0.08121902969565122,0.4771943015240936,0.3061527547798343],"tcp_quaternion_wxyz":[6.497359975340242e-05,0.7071076273297717,0.707105908988476,-0.00018062135044162725],"object_position_m":[0.08121055288622861,0.47774899223129724,0.3002361856154616],"object_quaternion_wxyz":[0.9999998914516879,-0.0004224372841095751,0.00019641771651353294,7.964524270321761e-06],"object_linear_velocity_m_s":[0.00013295762740148922,1.783019899269215e-05,-0.0022441419004348307],"object_angular_velocity_rad_s":[0.00024149337874145683,-0.00033033684360292577,-2.9230911922019854e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632423578329947,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09854179771915,"right":46.09872218812437},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019915262904357,-1.6411103255973294,1.6868333832907967,-1.6409446090885098,-1.5707956827934029,-0.4491188211219832,180.0],"actuator_force":[0.00211143239721423,-18.520628870299788,-21.128745940512545,-2.4485973375722097,0.0007878807015231359,0.00023801726302963289,5.0],"issued_joint_targets_rad":[-2.0199153222048443,-1.6319535785281065,1.6972831723560526,-1.6361201978785544,-1.5707968383334352,-0.44911888774774855],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.20000000000034,"joint_targets_rad":[-2.0199153222048443,-1.6319535785281065,1.6972831723560526,-1.6361201978785544,-1.5707968383334352,-0.44911888774774855],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.22000000000033,"qpos":[-2.019874976695986,-1.6318891153397805,1.6963714536234935,-1.6349032332848499,-1.5707995311783578,-0.4490763872379653,0.4611796841796322,0.0002914141742298709,0.4582742647883833,-0.4508390152863818,0.46118006936920336,0.0002954248298723832,0.45821857902189145,-0.4510785062839513,0.08121308274880777,0.47774934121552765,0.30019362167053376,0.9999998930830696,-0.0004200694643100211,0.00019317507873454654,7.673486964109825e-06],"qvel":[-0.00020644614458164434,0.00018802863250415135,0.0051257889145568695,-0.0057224384002792185,1.1720006456202453e-05,-0.00021465980499322593,6.179364709987157e-07,2.84255493783037e-06,3.1189452294576667e-06,-1.9768830885048743e-05,1.3221568629837222e-07,-3.017893654466354e-06,-2.1659898134262887e-06,2.0482747092991368e-05,0.00012056426470302933,1.682561491061213e-05,-0.0020262902196695955,0.00022857303027570605,-0.00031748891948053115,-2.8812272666193556e-05],"joint_position_rad":[-2.019874976695986,-1.6318891153397805,1.6963714536234935,-1.6349032332848499,-1.5707995311783578,-0.4490763872379653],"joint_velocity_rad_s":[-0.00020644614458164434,0.00018802863250415135,0.0051257889145568695,-0.0057224384002792185,1.1720006456202453e-05,-0.00021465980499322593],"linkage_position_rad":[0.4611796841796322,0.0002914141742298709,0.4582742647883833,-0.4508390152863818,0.46118006936920336,0.0002954248298723832,0.45821857902189145,-0.4510785062839513],"tcp_position_m":[0.0812214966850474,0.4771949180837656,0.3061100382762625],"tcp_quaternion_wxyz":[6.346169973853057e-05,0.7071075684864736,0.7071059689673971,-0.00017667041974238546],"object_position_m":[0.08121308274880777,0.47774934121552765,0.30019362167053376],"object_quaternion_wxyz":[0.9999998930830696,-0.0004200694643100211,0.00019317507873454654,7.673486964109825e-06],"object_linear_velocity_m_s":[0.00012056426470302933,1.682561491061213e-05,-0.0020262902196695955],"object_angular_velocity_rad_s":[0.00022856680577066648,-0.0003175095429827642,-2.863383720697207e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632423326641183,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098522660211636,"right":46.098698020675855},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199153193933643,-1.6411106558835102,1.686834119152079,-1.6409455894161071,-1.5707956280447637,-0.4491188882108233,180.0],"actuator_force":[0.0018930630762952205,-18.51829254046106,-21.124984508651778,-2.4489342256007376,0.0007795661514364838,0.0002154940703178454,5.0],"issued_joint_targets_rad":[-2.019915372757576,-1.6319538690967208,1.6972837951033874,-1.6361210570791245,-1.5707967895684465,-0.4491189484835614],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.22000000000033,"joint_targets_rad":[-2.019915372757576,-1.6319538690967208,1.6972837951033874,-1.6361210570791245,-1.5707967895684465,-0.4491189484835614],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.240000000000318,"qpos":[-2.0198788971166883,-1.631885625636066,1.6964687504640361,-1.6350119367323088,-1.570799303274789,-0.4490804664865706,0.461179696289152,0.0002914708658642875,0.45827432665769013,-0.4508394096130848,0.46118007184106546,0.00029536486758241905,0.4582185359675822,-0.4510780992046957,0.08121537679805753,0.47774966985477496,0.30015518809332936,0.9999998946189294,-0.0004178330927542592,0.00019006062854449334,7.388656190054674e-06],"qvel":[-0.0001866096440357142,0.00016376612236984028,0.004634194932083039,-0.005180290882642271,1.0902787328286175e-05,-0.00019436325380666356,5.593492356641051e-07,2.840655912093268e-06,3.061099030029809e-06,-1.967856585484543e-05,7.372250070740359e-08,-2.9777880830586703e-06,-2.2345421400144253e-06,2.0246518226373075e-05,0.00010933168573287062,1.5844939891814456e-05,-0.0018297230601340244,0.00021563032600991795,-0.00030481757883429173,-2.8176402645869252e-05],"joint_position_rad":[-2.0198788971166883,-1.631885625636066,1.6964687504640361,-1.6350119367323088,-1.570799303274789,-0.4490804664865706],"joint_velocity_rad_s":[-0.0001866096440357142,0.00016376612236984028,0.004634194932083039,-0.005180290882642271,1.0902787328286175e-05,-0.00019436325380666356],"linkage_position_rad":[0.461179696289152,0.0002914708658642875,0.45827432665769013,-0.4508394096130848,0.46118007184106546,0.00029536486758241905,0.4582185359675822,-0.4510780992046957],"tcp_position_m":[0.08122373087054928,0.4771954879630345,0.3060714936751191],"tcp_quaternion_wxyz":[6.204708742465332e-05,0.7071075128716942,0.7071060256223198,-0.0001729715933773294],"object_position_m":[0.08121537679805753,0.47774966985477496,0.30015518809332936],"object_quaternion_wxyz":[0.9999998946189294,-0.0004178330927542592,0.00019006062854449334,7.388656190054674e-06],"object_linear_velocity_m_s":[0.00010933168573287062,1.5844939891814456e-05,-0.0018297230601340244],"object_angular_velocity_rad_s":[0.00021562415293087723,-0.00030483786632335894,-2.800363290482795e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632423110693762,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09850541566874,"right":46.09867608450749},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199153704644948,-1.6411109648633038,1.6868347956064542,-1.6409464757829275,-1.5707955785178869,-0.44911894893648313,180.0],"actuator_force":[0.0016971620011645427,-18.51618490342298,-21.121587687996907,-2.4492404370450913,0.0007720997181195344,0.00019510042437786979,5.0],"issued_joint_targets_rad":[-2.0199154185141484,-1.6319541422180293,1.6972843674488471,-1.6361218333218392,-1.5707967454690406,-0.44911900346047906],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.240000000000318,"joint_targets_rad":[-2.0199154185141484,-1.6319541422180293,1.6972843674488471,-1.6361218333218392,-1.5707967454690406,-0.44911900346047906],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.260000000000307,"qpos":[-2.019882440925589,-1.631882589512029,1.6965567168864302,-1.6351103413647559,-1.5707990914042609,-0.44908416003186025,0.46117970725190927,0.00029152742530875575,0.458274387326449,-0.45083980151630276,0.46118007318060356,0.00029530577247964237,0.45821849163659406,-0.4510776973266354,0.08121745713046338,0.4777499787698116,0.30012048135964886,0.9999998960620102,-0.0004157274647642733,0.00018707241298852238,7.110340316892576e-06],"qvel":[-0.0001686821740394824,0.0001423941794767434,0.004189797532717372,-0.004689492345391991,1.0134517528265788e-05,-0.00017598571033781144,5.056852283050351e-07,2.828792432006599e-06,2.99902791800511e-06,-1.9529050021226296e-05,2.193707718178032e-08,-2.931703088430919e-06,-2.286323178068478e-06,1.9964867977093978e-05,9.91511407387915e-05,1.4893310075235248e-05,-0.0016523606321130568,0.00020279560286383527,-0.00029236206274466195,-2.7513287252500112e-05],"joint_position_rad":[-2.019882440925589,-1.631882589512029,1.6965567168864302,-1.6351103413647559,-1.5707990914042609,-0.44908416003186025],"joint_velocity_rad_s":[-0.0001686821740394824,0.0001423941794767434,0.004189797532717372,-0.004689492345391991,1.0134517528265788e-05,-0.00017598571033781144],"linkage_position_rad":[0.46117970725190927,0.00029152742530875575,0.458274387326449,-0.45083980151630276,0.46118007318060356,0.00029530577247964237,0.45821849163659406,-0.4510776973266354],"tcp_position_m":[0.08122575421705602,0.47719601438744547,0.3060367134468497],"tcp_quaternion_wxyz":[6.0725083767597695e-05,0.7071074604254874,0.707106079020962,-0.0001695130750590126],"object_position_m":[0.08121745713046338,0.4777499787698116,0.30012048135964886],"object_quaternion_wxyz":[0.9999998960620102,-0.0004157274647642733,0.00018707241298852238,7.110340316892576e-06],"object_linear_velocity_m_s":[9.91511407387915e-05,1.4893310075235248e-05,-0.0016523606321130568],"object_angular_velocity_rad_s":[0.00020278949792063334,-0.00029238198543884183,-2.73460668579082e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632422927031452,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.098489873279775,"right":46.09865616420431},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199154166438644,-1.641111252473287,1.6868354163284371,-1.6409472773498301,-1.5707955337100599,-0.4491190039039394,180.0],"actuator_force":[0.0015214330651360797,-18.514283594306562,-21.118520129073204,-2.4495187579979074,0.0007653953477984032,0.00017663499420450535,5.0],"issued_joint_targets_rad":[-2.0199154599308624,-1.6319543976802258,1.6972848925647281,-1.6361225347393233,-1.5707967055848158,-0.44911905322581885],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.260000000000307,"joint_targets_rad":[-2.0199154599308624,-1.6319543976802258,1.6972848925647281,-1.6361225347393233,-1.5707967055848158,-0.44911905322581885],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.280000000000296,"qpos":[-2.019885644355566,-1.6318799526334262,1.6966362485182227,-1.6351994226499613,-1.57079889458752,-0.44908750434174927,0.46117971716258555,0.00029158366685222556,0.4582744467161383,-0.45084018989787483,0.461180073516088,0.0002952476542639525,0.458218446348917,-0.4510773014848473,0.08121934377010154,0.4777502686548397,0.30008913737200876,0.9999998974154714,-0.0004137507821842521,0.0001842079491876782,6.83878991023058e-06],"qvel":[-0.0001524797802917266,0.00012358892457614955,0.003788057236412936,-0.004245181313292573,9.413343007201123e-06,-0.0001593457484035022,4.564846682151731e-07,2.8083113754817544e-06,2.933493487593319e-06,-1.9328553049192497e-05,-2.3840215661750786e-08,-2.880570861173653e-06,-2.3233433421691353e-06,1.964469228219994e-05,8.992402888321186e-05,1.3974580738874714e-05,-0.0014923263683462452,0.00019016910709760294,-0.00028017061902106216,-2.6828183660596346e-05],"joint_position_rad":[-2.019885644355566,-1.6318799526334262,1.6966362485182227,-1.6351994226499613,-1.57079889458752,-0.44908750434174927],"joint_velocity_rad_s":[-0.0001524797802917266,0.00012358892457614955,0.003788057236412936,-0.004245181313292573,9.413343007201123e-06,-0.0001593457484035022],"linkage_position_rad":[0.46117971716258555,0.00029158366685222556,0.4582744467161383,-0.45084018989787483,0.461180073516088,0.0002952476542639525,0.458218446348917,-0.4510773014848473],"tcp_position_m":[0.08122758661966784,0.47719650040146316,0.3060053298763882],"tcp_quaternion_wxyz":[5.9491005400584734e-05,0.7071074110685652,0.7071061292498443,-0.00016628299249307345],"object_position_m":[0.08121934377010154,0.4777502686548397,0.30008913737200876],"object_quaternion_wxyz":[0.9999998974154714,-0.0004137507821842521,0.0001842079491876782,6.83878991023058e-06],"object_linear_velocity_m_s":[8.992402888321186e-05,1.3974580738874714e-05,-0.0014923263683462452],"object_angular_velocity_rad_s":[0.00019016308516009724,-0.0002801901514345189,-2.6666394150063738e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632422772534352,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09847586118053,"right":46.09863806517657},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199154584054075,-1.6411115190640433,1.686835985010653,-1.6409480023565743,-1.5707954931676165,-0.44911905366046845,180.0],"actuator_force":[0.0013638124341923685,-18.512568431064665,-21.115749909704846,-2.4497717219771857,0.0007593756510004823,0.00015991548073657214,5.0],"issued_joint_targets_rad":[-2.0199154974204476,-1.631954635636196,1.6972853736206468,-1.6361231686450337,-1.5707966695094129,-0.449119098274716],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.280000000000296,"joint_targets_rad":[-2.0199154974204476,-1.631954635636196,1.6972853736206468,-1.6361231686450337,-1.5707966695094129,-0.449119098274716],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.300000000000285,"qpos":[-2.0198885401498505,-1.6318776667888053,1.696708154871745,-1.6352800636992069,-1.570798711885352,-0.44909053243637514,0.46117972610733415,0.00029163943018902216,0.45827450476316134,-0.4508405738156838,0.4611800729627238,0.0002951906050326369,0.4582184003863892,-0.4510769123845788,0.08122105486248528,0.4777505402569554,0.3000608276076579,0.9999998986827751,-0.0004119003712798459,0.00018146433354644713,6.5742033182236515e-06],"qvel":[-0.00013783624555025663,0.00010706053336018514,0.0034248726174274133,-0.003842956272300215,8.737310996948644e-06,-0.0001442790921373169,4.113344849756599e-07,2.7804157372395997e-06,2.8651750415228142e-06,-1.9084459384673312e-05,-6.423672057726725e-08,-2.825222975802589e-06,-2.3474023088227422e-06,1.9292140314720727e-05,8.156096072264187e-05,1.30915374358554e-05,-0.0013479270713986685,0.00017783069509260492,-0.00026828126715601377,-2.6125871655608174e-05],"joint_position_rad":[-2.0198885401498505,-1.6318776667888053,1.696708154871745,-1.6352800636992069,-1.570798711885352,-0.44909053243637514],"joint_velocity_rad_s":[-0.00013783624555025663,0.00010706053336018514,0.0034248726174274133,-0.003842956272300215,8.737310996948644e-06,-0.0001442790921373169],"linkage_position_rad":[0.46117972610733415,0.00029163943018902216,0.45827450476316134,-0.4508405738156838,0.4611800729627238,0.0002951906050326369,0.4582184003863892,-0.4510769123845788],"tcp_position_m":[0.08122924609806732,0.4771969488722426,0.3059770111733612],"tcp_quaternion_wxyz":[5.834020909447638e-05,0.7071073647065538,0.7071061764100459,-0.00016326952206661993],"object_position_m":[0.08122105486248528,0.4777505402569554,0.3000608276076579],"object_quaternion_wxyz":[0.9999998986827751,-0.0004119003712798459,0.00018146433354644713,6.5742033182236515e-06],"object_linear_velocity_m_s":[8.156096072264187e-05,1.30915374358554e-05,-0.0013479270713986685],"object_angular_velocity_rad_s":[0.00017782476925655275,-0.0002683003870651574,-2.5969392238968747e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324226443858696,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09846322465781,"right":46.098621611710584},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199154961762344,-1.6411117652832754,1.6868365052938339,-1.6409486582193287,-1.570795456481069,-0.4491190987011667,180.0],"actuator_force":[0.0012224454521856387,-18.511021202284155,-21.11324820279333,-2.4500016328308902,0.0007539710417177048,0.0001447768179900777,5.0],"issued_joint_targets_rad":[-2.0199155313562382,-1.6319548565053104,1.6972858137285112,-1.6361237416195924,-1.5707966368761401,-0.44911913905512035],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.300000000000285,"joint_targets_rad":[-2.0199155313562382,-1.6319548565053104,1.6972858137285112,-1.6361237416195924,-1.5707966368761401,-0.44911913905512035],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.320000000000274,"qpos":[-2.019891157898214,-1.6318756892405026,1.6967731676490048,-1.6353530640060836,-1.5707985423999846,-0.4490932742140239,0.4611797341645894,0.0002916945777084168,0.4582745614171588,-0.45084095246688205,0.4611800716239402,0.00029513470119461193,0.4582183539966263,-0.4510765306153651,0.08122260685042514,0.4777507943589889,0.3000352556428004,0.9999998998675784,-0.00041017286878204277,0.0001788383353052314,6.316731788413997e-06],"qvel":[-0.0001246013803628074,9.254996832839675e-05,0.003096537776426905,-0.00347883219924197,8.104406646179734e-06,-0.00013063699505614642,3.698628161859844e-07,2.74617897828118e-06,2.7946770606791755e-06,-1.880335451562698e-05,-9.98155011642879e-08,-2.7664002431929406e-06,-2.360110866737575e-06,1.8912687222184667e-05,7.398090547097617e-05,1.2246076172160475e-05,-0.0012176349990930852,0.0001658428350618919,-0.00025672327783383226,-2.541068638547376e-05],"joint_position_rad":[-2.019891157898214,-1.6318756892405026,1.6967731676490048,-1.6353530640060836,-1.5707985423999846,-0.4490932742140239],"joint_velocity_rad_s":[-0.0001246013803628074,9.254996832839675e-05,0.003096537776426905,-0.00347883219924197,8.104406646179734e-06,-0.00013063699505614642],"linkage_position_rad":[0.4611797341645894,0.0002916945777084168,0.4582745614171588,-0.45084095246688205,0.4611800716239402,0.00029513470119461193,0.4582183539966263,-0.4510765306153651],"tcp_position_m":[0.08123074897278816,0.4771973624945582,0.3059514579622359],"tcp_quaternion_wxyz":[5.726812768816143e-05,0.7071073212336322,0.7071062206135855,-0.00016046099022380466],"object_position_m":[0.08122260685042514,0.4777507943589889,0.3000352556428004],"object_quaternion_wxyz":[0.9999998998675784,-0.00041017286878204277,0.0001788383353052314,6.316731788413997e-06],"object_linear_velocity_m_s":[7.398090547097617e-05,1.2246076172160475e-05,-0.0012176349990930852],"object_angular_velocity_rad_s":[0.00016583701673072505,-0.00025674196619524496,-2.525939393071009e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632422540042969,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.09845182441031,"right":46.09860664509364},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.019915530341406,-1.6411119919845654,1.68683698071615,-1.6409492516170314,-1.5707954232807357,-0.4491191394739466,180.0],"actuator_force":[0.001095665761113196,-18.509625475456687,-21.11098897628017,-2.4502105855498257,0.000749118959788575,0.00013106954423847128,5.0],"issued_joint_targets_rad":[-2.0199155620759477,-1.6319550608962674,1.6972862159029611,-1.6361242595873788,-1.5707966073540363,-0.449119175972303],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.320000000000274,"joint_targets_rad":[-2.0199155620759477,-1.6319550608962674,1.6972862159029611,-1.6361242595873788,-1.5707966073540363,-0.449119175972303],"gripper_0_255":180.0,"phase":"place"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.340000000000263,"qpos":[-2.0198934482101483,-1.6318742345691533,1.696831706764858,-1.635419111393414,-1.570798223475005,-0.4490957633231156,0.461179169195422,0.00029148629579715536,0.4582740489538089,-0.4508385556776101,0.4611793889609405,0.0002949463222566236,0.4582173298277451,-0.4510752129214401,0.08122386654003941,0.47775108518651066,0.30001243939569355,0.9999999012013586,-0.000408105381206592,0.00017609562496308503,6.1319941286927906e-06],"qvel":[-9.925386706289612e-05,3.861195320847678e-05,0.002765308769101156,-0.0031488741300714908,3.1851934957240416e-05,-0.00011949259473838658,-8.707706080450971e-05,-2.770551185559975e-05,-8.450398097270542e-05,0.000328192123370408,-9.948173646335396e-05,-1.6737908150398123e-05,-0.00012812073097503857,0.00015937306143195103,4.7343569792233765e-05,2.000619278721874e-05,-0.0010576658981673768,0.0003005418743822072,-0.0003113750616497935,-7.968341586504789e-07],"joint_position_rad":[-2.0198934482101483,-1.6318742345691533,1.696831706764858,-1.635419111393414,-1.570798223475005,-0.4490957633231156],"joint_velocity_rad_s":[-9.925386706289612e-05,3.861195320847678e-05,0.002765308769101156,-0.0031488741300714908,3.1851934957240416e-05,-0.00011949259473838658],"linkage_position_rad":[0.461179169195422,0.00029148629579715536,0.4582740489538089,-0.4508385556776101,0.4611793889609405,0.0002949463222566236,0.4582173298277451,-0.4510752129214401],"tcp_position_m":[0.0812320462409638,0.47719778834616344,0.30592863252464914],"tcp_quaternion_wxyz":[5.611837587901449e-05,0.7071072513310318,0.7071062912393201,-0.00015765650606266041],"object_position_m":[0.08122386654003941,0.47775108518651066,0.30001243939569355],"object_quaternion_wxyz":[0.9999999012013586,-0.000408105381206592,0.00017609562496308503,6.1319941286927906e-06],"object_linear_velocity_m_s":[4.7343569792233765e-05,2.000619278721874e-05,-0.0010576658981673768],"object_angular_velocity_rad_s":[0.00030054543854021124,-0.000311371965649189,-6.485365770542107e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0463242347058559,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10257264782654,"right":46.08406341222392},"table_object_contact_count":1,"unexpected_contact_count":0,"contact_count":17,"native_actuator_controls":[-2.019915561285804,-1.641112196118872,1.6868374140928242,-1.6409497898884469,-1.570795392755984,-0.44911917638345183,180.0],"actuator_force":[-0.004524604486505268,-18.491367880720645,-21.094708851707765,-2.4504518345094084,-0.0017698339851222045,0.00024272930576785257,5.0],"issued_joint_targets_rad":[-2.0199155900128285,-1.6319552496401049,1.6972865828707357,-1.636124727419437,-1.5707965803501434,-0.4491192095085039],"issued_gripper_0_255":180.0,"command":{"t_seconds":9.340000000000263,"joint_targets_rad":[-2.0199155900128285,-1.6319552496401049,1.6972865828707357,-1.636124727419437,-1.5707965803501434,-0.4491192095085039],"gripper_0_255":180.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.360000000000252,"qpos":[-2.019895177367623,-1.6318743900405823,1.6968835744897695,-1.6354789104343004,-1.5707973583455093,-0.4490980970057396,0.46117684318405794,0.00029129448540750363,0.45827214623826124,-0.45083316606926044,0.46117669389023735,0.00029415139242150467,0.45821364146815846,-0.4510684885740595,0.08122468921146159,0.47775155202052383,0.29999312175228665,0.9999999032863043,-0.0004039760901290246,0.0001737493461835058,6.4703706611327674e-06],"qvel":[-7.527555193766338e-05,-4.402255601648614e-05,0.002446808232322338,-0.0028533899718439153,4.978354926169042e-05,-0.00011273865852760489,-0.00011359537072642154,-3.972998861384312e-06,-9.443048685096692e-05,0.00020593573111984864,-0.00012840464546991134,-3.214173150266531e-05,-0.0001655902183079483,0.00032273512369552875,3.7662024311559594e-05,2.6557638705817154e-05,-0.0008912848404259528,0.0004985506450869228,-0.00020903429642266815,5.8400466676571596e-05],"joint_position_rad":[-2.019895177367623,-1.6318743900405823,1.6968835744897695,-1.6354789104343004,-1.5707973583455093,-0.4490980970057396],"joint_velocity_rad_s":[-7.527555193766338e-05,-4.402255601648614e-05,0.002446808232322338,-0.0028533899718439153,4.978354926169042e-05,-0.00011273865852760489],"linkage_position_rad":[0.46117684318405794,0.00029129448540750363,0.45827214623826124,-0.45083316606926044,0.46117669389023735,0.00029415139242150467,0.45821364146815846,-0.4510684885740595],"tcp_position_m":[0.08123297010448825,0.47719836243338043,0.3059092080683403],"tcp_quaternion_wxyz":[5.437541711715976e-05,0.7071070381247896,0.7071065053915845,-0.000153982473152843],"object_position_m":[0.08122468921146159,0.47775155202052383,0.29999312175228665],"object_quaternion_wxyz":[0.9999999032863043,-0.0004039760901290246,0.0001737493461835058,6.4703706611327674e-06],"object_linear_velocity_m_s":[3.7662024311559594e-05,2.6557638705817154e-05,-0.0008912848404259528],"object_angular_velocity_rad_s":[0.0004985736431253634,-0.0002089806616394415,5.839608503138065e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046324317771867775,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.10102686254807,"right":46.07019166790623},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":18,"native_actuator_controls":[-2.0199155894273706,-1.6411123578655635,1.6868378056795372,-1.6409502846030666,-1.5707953628674265,-0.44911920990909293,180.0],"actuator_force":[-0.010713898720496218,-18.458326627555834,-21.070260913393213,-2.4503480871987904,-0.003980615884756844,0.0007174141760799557,5.0],"issued_joint_targets_rad":[-2.0199156158766436,-1.6319554244881485,1.6972869178465018,-1.6361251496349165,-1.5707965547621505,-0.4491192405316641],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.360000000000252,"joint_targets_rad":[-2.0199156158766436,-1.6319554244881485,1.6972869178465018,-1.6361251496349165,-1.5707965547621505,-0.4491192405316641],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.38000000000024,"qpos":[-2.0198964927686527,-1.6318760594316075,1.6969293988442848,-1.6355330730615214,-1.5707963690945153,-0.4491001481947901,0.4611746291909093,0.0002908526778512589,0.45826992793680515,-0.4508271961511793,0.4611742854609074,0.00029374258502248103,0.4582107096104245,-0.45106363415332,0.08122535093495145,0.47775210395035883,0.2999769204944725,0.9999999057543055,-0.0003990357090880705,0.00017092874482689256,6.726651558990849e-06],"qvel":[-5.7737897083746e-05,-0.00011345692482603703,0.0021599700171678854,-0.002583681460012215,4.845963696689289e-05,-9.636352328314957e-05,-9.801330706661062e-05,-1.9122994173645962e-05,-0.00010226555624961676,0.00026005286761581256,-0.00010354205449336837,-1.4194271922324118e-05,-0.00011843927817673751,0.0001963493067574419,3.117266281067148e-05,2.908505646500385e-05,-0.0007447667378215947,0.0004969016704473409,-0.00031408290693864813,9.666952030682162e-06],"joint_position_rad":[-2.0198964927686527,-1.6318760594316075,1.6969293988442848,-1.6355330730615214,-1.5707963690945153,-0.4491001481947901],"joint_velocity_rad_s":[-5.7737897083746e-05,-0.00011345692482603703,0.0021599700171678854,-0.002583681460012215,4.845963696689289e-05,-9.636352328314957e-05],"linkage_position_rad":[0.4611746291909093,0.0002908526778512589,0.45826992793680515,-0.4508271961511793,0.4611742854609074,0.00029374258502248103,0.4582107096104245,-0.45106363415332],"tcp_position_m":[0.08123368561412933,0.47719902061953606,0.30589289254457197],"tcp_quaternion_wxyz":[5.2257001789053685e-05,0.7071067786107215,0.707106766043829,-0.000149422257491623],"object_position_m":[0.08122535093495145,0.47775210395035883,0.2999769204944725],"object_quaternion_wxyz":[0.9999999057543055,-0.0003990357090880705,0.00017092874482689256,6.726651558990849e-06],"object_linear_velocity_m_s":[3.117266281067148e-05,2.908505646500385e-05,-0.0007447667378215947],"object_angular_velocity_rad_s":[0.0004969092143317836,-0.0003140684747639364,9.747736023177456e-06],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632440602859033,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":46.1004062305174,"right":46.055780247708626},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-2.0199156154471916,-1.6411124798210082,1.6868381591191286,-1.6409507401298724,-1.5707953339448133,-0.4491192409192018,170.0],"actuator_force":[-0.015150198244100466,-18.427458008871326,-21.04646745717946,-2.4504653881742797,-0.004328388845692643,8.999012248978033e-05,5.0],"issued_joint_targets_rad":[-2.019915639338223,-1.6319555858810766,1.6972872231273695,-1.6361255308342204,-1.5707965313564627,-0.4491192684957859],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.38000000000024,"joint_targets_rad":[-2.019915639338223,-1.6319555858810766,1.6972872231273695,-1.6361255308342204,-1.5707965313564627,-0.4491192684957859],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.40000000000023,"qpos":[-2.0198974996752828,-1.6318787328251805,1.696970174418575,-1.6355821529253347,-1.5707953761231965,-0.4491019968095239,0.46104671181052104,0.0003037005789215013,0.45815919795623833,-0.45061968529254126,0.4610462273286059,0.00030633888815416346,0.45810057427922546,-0.45085316383222446,0.08122599129684728,0.47775262834689347,0.299965272908356,0.9999999075872507,-0.000395600208891768,0.0001682027604291325,5.813530176174763e-06],"qvel":[-4.338111049945783e-05,-6.052523203528241e-05,0.002026085487103867,-0.0023606952216693616,4.200827598713268e-05,-9.046454763695527e-05,-0.041958121389987814,0.0030793975433717896,-0.035985594997478894,0.06664624035173597,-0.04192924181486584,0.003146940227829685,-0.035455049094259686,0.06712502618869681,6.242609761026774e-05,3.3489239470615653e-06,-3.0707257158113044e-05,-0.0006861253416179394,-0.0005391395643691559,-0.0010841688576746047],"joint_position_rad":[-2.0198974996752828,-1.6318787328251805,1.696970174418575,-1.6355821529253347,-1.5707953761231965,-0.4491019968095239],"joint_velocity_rad_s":[-4.338111049945783e-05,-6.052523203528241e-05,0.002026085487103867,-0.0023606952216693616,4.200827598713268e-05,-9.046454763695527e-05],"linkage_position_rad":[0.46104671181052104,0.0003037005789215013,0.45815919795623833,-0.45061968529254126,0.4610462273286059,0.00030633888815416346,0.45810057427922546,-0.45085316383222446],"tcp_position_m":[0.08123424255821128,0.47719968249833905,0.305879015639379],"tcp_quaternion_wxyz":[4.997683287644034e-05,0.7071064816792879,0.7071070641824403,-0.00014440479471794932],"object_position_m":[0.08122599129684728,0.47775262834689347,0.299965272908356],"object_quaternion_wxyz":[0.9999999075872507,-0.000395600208891768,0.0001682027604291325,5.813530176174763e-06],"object_linear_velocity_m_s":[6.242609761026774e-05,3.3489239470615653e-06,-3.0707257158113044e-05],"object_angular_velocity_rad_s":[-0.0006864836777588612,-0.0005400050787857454,-0.0010835110711415123],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04632981401884367,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":42.8588292766064,"right":42.836292824065495},"table_object_contact_count":2,"unexpected_contact_count":0,"contact_count":20,"native_actuator_controls":[-2.01991563895861,-1.6411125706114136,1.6868384771774396,-1.6409511592657442,-1.5707953072138487,-0.4491192688696452,160.0],"actuator_force":[-0.018926122455013683,-18.443465479651877,-21.073828677112033,-2.448433648037849,-0.004166372924828465,0.00041042470303409573,4.510869859067917],"issued_joint_targets_rad":[-2.019915660657391,-1.6319557345287399,1.6972875014052935,-1.6361258756892054,-1.5707965100129082,-0.4491192938660732],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.40000000000023,"joint_targets_rad":[-2.019915660657391,-1.6319557345287399,1.6972875014052935,-1.6361258756892054,-1.5707965100129082,-0.4491192938660732],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.420000000000218,"qpos":[-2.019898959987229,-1.631877712613149,1.6970099230787994,-1.6356265143602844,-1.5707953952575378,-0.44910365935214513,0.45851487732322715,0.00031960098289423667,0.4560371017650739,-0.44690998332050924,0.45851518383302864,0.00032307756642468657,0.45599235144672007,-0.4471189979858163,0.08122804337633474,0.47775255267656486,0.29999027705397685,0.9999999078617424,-0.0003962927114056049,0.00016498115524537344,3.1325402281539223e-06],"qvel":[-8.240912870843634e-05,9.105776880553023e-05,0.0019125215657610738,-0.0021042266913438978,-6.466648718188285e-06,-7.89688268571699e-05,-0.18982977180028948,-0.0002933554083647106,-0.15924052981367948,0.27050376938847226,-0.189815502126083,-0.0002663657277892292,-0.15851373005638542,0.27212203171835364,0.00010967802507105473,-2.7354532393608002e-06,0.0022374892430607977,-1.2188512686934216e-05,-0.00012493515761200432,-4.117477537204847e-05],"joint_position_rad":[-2.019898959987229,-1.631877712613149,1.6970099230787994,-1.6356265143602844,-1.5707953952575378,-0.44910365935214513],"joint_velocity_rad_s":[-8.240912870843634e-05,9.105776880553023e-05,0.0019125215657610738,-0.0021042266913438978,-6.466648718188285e-06,-7.89688268571699e-05],"linkage_position_rad":[0.45851487732322715,0.00031960098289423667,0.4560371017650739,-0.44690998332050924,0.45851518383302864,0.00032307756642468657,0.45599235144672007,-0.4471189979858163],"tcp_position_m":[0.08123507929577672,0.47719984282939715,0.3058634535515411],"tcp_quaternion_wxyz":[4.9392880326174076e-05,0.7071064103712423,0.7071071358763259,-0.00014270605527098021],"object_position_m":[0.08122804337633474,0.47775255267656486,0.29999027705397685],"object_quaternion_wxyz":[0.9999999078617424,-0.0003962927114056049,0.00016498115524537344,3.1325402281539223e-06],"object_linear_velocity_m_s":[0.00010967802507105473,-2.7354532393608002e-06,0.0022374892430607977],"object_angular_velocity_rad_s":[-1.220129897824644e-05,-0.000124967827702456,-4.10717167716095e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04645307351492366,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":30.018212645201217,"right":30.018377049760442},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":19,"native_actuator_controls":[-2.019915660244572,-1.64111274249964,1.68683874921863,-1.6409515397124015,-1.570795286286509,-0.4491192942339506,150.0],"actuator_force":[-0.0004368632030491426,-18.50648288050388,-21.107356346642973,-2.452090006924209,0.0007011503862486279,7.944178298657789e-05,3.1055483118190708],"issued_joint_targets_rad":[-2.0199156791288297,-1.6319558687417963,1.6972877547387382,-1.6361261900570263,-1.5707964924856337,-0.44911931612119366],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.420000000000218,"joint_targets_rad":[-2.0199156791288297,-1.6319558687417963,1.6972877547387382,-1.6361261900570263,-1.5707964924856337,-0.44911931612119366],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.440000000000207,"qpos":[-2.0199005667065517,-1.6318758998473402,1.6970462557506243,-1.6356664819930504,-1.5707955205898225,-0.4491051599792488,0.45370743530994717,0.00030577698874813226,0.45194351129079013,-0.4401297406991309,0.45370784263772046,0.000309972839683119,0.4519166354521654,-0.440295772963029,0.0812305338344678,0.47775252697598025,0.3000523592275848,0.9999999079889439,-0.0003963513641623959,0.00016407077265676248,2.912396200935265e-06],"qvel":[-7.719584204982403e-05,8.699613373744812e-05,0.001730632294318094,-0.0019048891119036804,-6.034324513191743e-06,-7.14994235559858e-05,-0.2819551885532941,-0.0013300279659575474,-0.24364238510297692,0.39569657523372365,-0.2819533238774788,-0.0012964864976633237,-0.2426044249198451,0.39846082943027034,0.00014125300115071498,-4.886408271528293e-07,0.003847079327991725,-5.702769934385153e-06,-4.289708842454743e-05,-1.600417077928143e-05],"joint_position_rad":[-2.0199005667065517,-1.6318758998473402,1.6970462557506243,-1.6356664819930504,-1.5707955205898225,-0.4491051599792488],"joint_velocity_rad_s":[-7.719584204982403e-05,8.699613373744812e-05,0.001730632294318094,-0.0019048891119036804,-6.034324513191743e-06,-7.14994235559858e-05],"linkage_position_rad":[0.45370743530994717,0.00030577698874813226,0.45194351129079013,-0.4401297406991309,0.45370784263772046,0.000309972839683119,0.4519166354521654,-0.440295772963029],"tcp_position_m":[0.08123598849698524,0.4771999340845622,0.3058487613720382],"tcp_quaternion_wxyz":[4.915116096262936e-05,0.7071064479705864,0.7071070984710459,-0.00014182539102230632],"object_position_m":[0.0812305338344678,0.47775252697598025,0.3000523592275848],"object_quaternion_wxyz":[0.9999999079889439,-0.0003963513641623959,0.00016407077265676248,2.912396200935265e-06],"object_linear_velocity_m_s":[0.00014125300115071498,-4.886408271528293e-07,0.003847079327991725],"object_angular_velocity_rad_s":[-5.707765777380574e-06,-4.2909793985752896e-05,-1.5968288965671416e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.046717893231706054,"grasp_contact_counts":{"left":8,"right":8},"pad_normal_forces_n":{"left":14.644368184189146,"right":14.6445014739877},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199156787722754,-1.6411129294828053,1.6868389858575397,-1.6409518917404144,-1.5707952698690648,-0.44911931648616904,140.0],"actuator_force":[0.0006542053724842845,-18.508857724425525,-21.106792703896645,-2.4522159624915503,0.000728792830045677,7.168889547415347e-05,1.370348664770475],"issued_joint_targets_rad":[-2.019915695842397,-1.631955990385454,1.6972879838244597,-1.6361264731610965,-1.570796476721902,-0.44911933626514017],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.440000000000207,"joint_targets_rad":[-2.019915695842397,-1.631955990385454,1.6972879838244597,-1.6361264731610965,-1.570796476721902,-0.44911933626514017],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.460000000000196,"qpos":[-2.019902028599068,-1.6318742493701277,1.6970791497814972,-1.6357026308782472,-1.5707956269673469,-0.44910651871708457,0.4471096433175603,0.00024115890566862543,0.4460517772184453,-0.4310002698698665,0.4471099055085982,0.00024347377447344628,0.44604465639272317,-0.431080760288111,0.08123434960741403,0.47775251734572804,0.30014695922594997,0.999999907309918,-0.0003969330694771688,0.00016678745704374159,2.4978677059531085e-06],"qvel":[-6.908254813287024e-05,8.126467088579215e-05,0.0015719180970176956,-0.0017183144449303396,-4.790096111819261e-06,-6.473866268085817e-05,-0.3831911465045664,-0.006013609550173651,-0.35628937969879876,0.5163972719690982,-0.3832125693294913,-0.006289699455778216,-0.35554046904982795,0.52225109136969,0.00027312223414753393,-1.1132845079631461e-06,0.005669909744925622,-0.00019591996619143295,0.000754474486402549,-6.620637143243156e-05],"joint_position_rad":[-2.019902028599068,-1.6318742493701277,1.6970791497814972,-1.6357026308782472,-1.5707956269673469,-0.44910651871708457],"joint_velocity_rad_s":[-6.908254813287024e-05,8.126467088579215e-05,0.0015719180970176956,-0.0017183144449303396,-4.790096111819261e-06,-6.473866268085817e-05],"linkage_position_rad":[0.4471096433175603,0.00024115890566862543,0.4460517772184453,-0.4310002698698665,0.4471099055085982,0.00024347377447344628,0.44604465639272317,-0.431080760288111],"tcp_position_m":[0.0812368098229603,0.477200009337066,0.30583545181841315],"tcp_quaternion_wxyz":[4.893645682761321e-05,0.7071064845203737,0.7071070620911474,-0.00014105065488596025],"object_position_m":[0.08123434960741403,0.47775251734572804,0.30014695922594997],"object_quaternion_wxyz":[0.999999907309918,-0.0003969330694771688,0.00016678745704374159,2.4978677059531085e-06],"object_linear_velocity_m_s":[0.00027312223414753393,-1.1132845079631461e-06,0.005669909744925622],"object_angular_velocity_rad_s":[-0.000195945908992292,0.000754420736779559,-6.673994358152148e-05],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.047142167094155855,"grasp_contact_counts":{"left":2,"right":2},"pad_normal_forces_n":{"left":2.2421972616158206,"right":2.2422936386907484},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":16,"native_actuator_controls":[-2.0199156955531867,-1.6411131290242764,1.6868391682865007,-1.6409522346656336,-1.5707952553664783,-0.4491193366278522,130.0],"actuator_force":[0.0002991110159200616,-18.510265176651956,-21.108730228799686,-2.4529704492001656,0.0006648100453503503,6.491088427651448e-05,-0.09464386213763731],"issued_joint_targets_rad":[-2.019915710988887,-1.6319561016133233,1.6972881921007223,-1.6361267291299089,-1.5707964624322404,-0.44911935451640295],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.460000000000196,"joint_targets_rad":[-2.019915710988887,-1.6319561016133233,1.6972881921007223,-1.6361267291299089,-1.5707964624322404,-0.44911935451640295],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.480000000000185,"qpos":[-2.0199034093535526,-1.631873193423763,1.697108265524901,-1.6357358828723456,-1.5707957428824444,-0.44910774895613115,0.4375347016167589,0.0001341285197357057,0.43671491582754307,-0.41983677336551584,0.4375346584009389,0.0001336498574570665,0.43671639098032644,-0.4198463066431516,0.08123853785437658,0.47775329416206647,0.300105340786114,0.9999998967663425,-0.00042935817871258636,0.00014871788153275907,1.3602560699269877e-06],"qvel":[-6.778622889902787e-05,6.216655660124583e-06,0.0013379285148975137,-0.0016258950483960084,-5.860269682482467e-06,-5.8612394617758555e-05,-0.5749505808173709,-0.0015200305870683012,-0.5714796352226909,0.5836682299021244,-0.5749543235583555,-0.0015384295430572318,-0.5713250738244244,0.5846583755010345,0.0001234801642916286,8.023177961847576e-05,-0.018435659240824843,-0.006093001616151628,-0.00548321135393967,-0.00012931238512932602],"joint_position_rad":[-2.0199034093535526,-1.631873193423763,1.697108265524901,-1.6357358828723456,-1.5707957428824444,-0.44910774895613115],"joint_velocity_rad_s":[-6.778622889902787e-05,6.216655660124583e-06,0.0013379285148975137,-0.0016258950483960084,-5.860269682482467e-06,-5.8612394617758555e-05],"linkage_position_rad":[0.4375347016167589,0.0001341285197357057,0.43671491582754307,-0.41983677336551584,0.4375346584009389,0.0001336498574570665,0.43671639098032644,-0.4198463066431516],"tcp_position_m":[0.0812376973771929,0.47720030331318464,0.30582398485113205],"tcp_quaternion_wxyz":[4.848275219281496e-05,0.7071065378909678,0.7071070090441289,-0.00013957771270375639],"object_position_m":[0.08123853785437658,0.47775329416206647,0.300105340786114],"object_quaternion_wxyz":[0.9999998967663425,-0.00042935817871258636,0.00014871788153275907,1.3602560699269877e-06],"object_linear_velocity_m_s":[0.0001234801642916286,8.023177961847576e-05,-0.018435659240824843],"object_angular_velocity_rad_s":[-0.006093024191200951,-0.005483336172944961,-0.00012279152764087283],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.048048776580536204,"grasp_contact_counts":{"left":2,"right":2},"pad_normal_forces_n":{"left":0.2109986790276148,"right":0.2113912265543531},"table_object_contact_count":0,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157107737378,-1.6411134295300296,1.6868392007339792,-1.6409526566516934,-1.5707952420272995,-0.44911935487331656,120.0],"actuator_force":[0.0025116511892520066,-18.482958874797532,-21.073300987802668,-2.4457973848342363,0.0008364545406038815,5.828086906944918e-05,-0.3568834790062567],"issued_joint_targets_rad":[-2.019915724663813,-1.631956203541587,1.6972883820996119,-1.6361269619016945,-1.5707964495313809,-0.44911937100580407],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.480000000000185,"joint_targets_rad":[-2.019915724663813,-1.631956203541587,1.6972883820996119,-1.6361269619016945,-1.5707964495313809,-0.44911937100580407],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.500000000000174,"qpos":[-2.019904876573627,-1.6318766269843898,1.6971292052086322,-1.6357704342748984,-1.5707958218660403,-0.44910886237749137,0.42413527929624784,0.00012636160244024777,0.4233591409752261,-0.4067323745456091,0.42413526538079643,0.00012626399178146898,0.42336246811539363,-0.40673725204684413,0.08123657595808596,0.47772924511467324,0.2997902786985098,0.9999999862427846,0.00016211785875881545,3.508704206181559e-05,1.0629080909040524e-06],"qvel":[-6.642215024564329e-05,-0.0003255848420570507,0.000852242927947533,-0.0017668912203927197,-4.620746022000411e-06,-5.306695342845033e-05,-0.7515810307223537,-0.00013929010183072907,-0.7505894257123266,0.7257514243897649,-0.751579101796748,-0.00012793328998280526,-0.7505603206276197,0.7257845976652775,-0.00010347117891178694,-0.0005901834687956688,-0.004441396900186728,0.02915508319035134,-0.0071542840678621164,-1.3075797009521381e-06],"joint_position_rad":[-2.019904876573627,-1.6318766269843898,1.6971292052086322,-1.6357704342748984,-1.5707958218660403,-0.44910886237749137],"joint_velocity_rad_s":[-6.642215024564329e-05,-0.0003255848420570507,0.000852242927947533,-0.0017668912203927197,-4.620746022000411e-06,-5.306695342845033e-05],"linkage_position_rad":[0.42413527929624784,0.00012636160244024777,0.4233591409752261,-0.4067323745456091,0.42413526538079643,0.00012626399178146898,0.42336246811539363,-0.40673725204684413],"tcp_position_m":[0.08123948235050783,0.4772023884432904,0.30581875125367375],"tcp_quaternion_wxyz":[4.570749428144446e-05,0.7071066638368625,0.707106884827852,-0.00013151949448245037],"object_position_m":[0.08123657595808596,0.47772924511467324,0.2997902786985098],"object_quaternion_wxyz":[0.9999999862427846,0.00016211785875881545,3.508704206181559e-05,1.0629080909040524e-06],"object_linear_velocity_m_s":[-0.00010347117891178694,-0.0005901834687956688,-0.004441396900186728],"object_angular_velocity_rad_s":[0.02915509815404324,-0.007154220957792589,-5.6731757432723405e-06],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.04954640722283836,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157244095476,-1.6411136931478687,1.6868391509718348,-1.6409531359053533,-1.5707952296661976,-0.44911937133951113,110.0],"actuator_force":[0.004873188257079164,-18.34389839013511,-20.921005644773686,-2.4146616931881226,0.0007581745235256676,5.221433298174816e-05,-0.38792157125669746],"issued_joint_targets_rad":[-2.0199157369862455,-1.631956300304505,1.6972885616968831,-1.6361271840407499,-1.5707964377316281,-0.4491193858751958],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.500000000000174,"joint_targets_rad":[-2.0199157369862455,-1.631956300304505,1.6972885616968831,-1.6361271840407499,-1.5707964377316281,-0.4491193858751958],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.520000000000163,"qpos":[-2.0199059814185847,-1.631883612265602,1.6971449821044957,-1.6358042500836816,-1.5707958954868886,-0.44910987091749344,0.4075118098480696,0.00012483308050324058,0.4067490358563032,-0.3907311426863948,0.4075118075200856,0.00012482134212296256,0.406752540220629,-0.39073586646756925,0.08123553829567602,0.4777271463144273,0.29979000066380407,0.9999999774014185,0.00021258733215579557,1.6390587287736125e-06,1.0499284515792173e-06],"qvel":[-4.91614231753552e-05,-0.0003493003441383899,0.0007430916826312534,-0.0016166014528304804,-3.0950722602195827e-06,-4.805677014032633e-05,-0.8985871266078628,-7.48757834909441e-05,-0.898079612964748,0.8641619963877257,-0.8985870779947933,-7.374234575019777e-05,-0.8980784609688872,0.8641660384853987,-2.0932449118442108e-05,0.00012241064470675038,0.0019249048869198046,-0.006237734467625104,-0.0012597475066270937,-9.931271253564823e-08],"joint_position_rad":[-2.0199059814185847,-1.631883612265602,1.6971449821044957,-1.6358042500836816,-1.5707958954868886,-0.44910987091749344],"joint_velocity_rad_s":[-4.91614231753552e-05,-0.0003493003441383899,0.0007430916826312534,-0.0016166014528304804,-3.0950722602195827e-06,-4.805677014032633e-05],"linkage_position_rad":[0.4075118098480696,0.00012483308050324058,0.4067490358563032,-0.3907311426863948,0.4075118075200856,0.00012482134212296256,0.406752540220629,-0.39073586646756925],"tcp_position_m":[0.08124142191275809,0.47720518570924364,0.30581763176358095],"tcp_quaternion_wxyz":[4.161329106226974e-05,0.7071066990568042,0.7071068519609713,-0.00011969615226969392],"object_position_m":[0.08123553829567602,0.4777271463144273,0.29979000066380407],"object_quaternion_wxyz":[0.9999999774014185,0.00021258733215579557,1.6390587287736125e-06,1.0499284515792173e-06],"object_linear_velocity_m_s":[-2.0932449118442108e-05,0.00012241064470675038,0.0019249048869198046],"object_angular_velocity_rad_s":[-0.006237731823491904,-0.0012597604532310661,-6.144801777892634e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.05142231276796979,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157367104976,-1.6411138875492757,1.6868390731821832,-1.640953638524115,-1.5707952181728446,-0.44911938618419406,100.0],"actuator_force":[0.00015398544383060653,-18.32083042969225,-20.909054517677305,-2.4130340749336483,0.0006481642479911898,4.804366369626223e-05,-0.39275984539447606],"issued_joint_targets_rad":[-2.0199157481746304,-1.6319563924504243,1.6972887306101476,-1.6361273933481733,-1.5707964270172685,-0.4491193993717545],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.520000000000163,"joint_targets_rad":[-2.0199157481746304,-1.6319563924504243,1.6972887306101476,-1.6361273933481733,-1.5707964270172685,-0.4491193993717545],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.540000000000152,"qpos":[-2.019906902469983,-1.6318903290697333,1.6971590476009026,-1.6358349849478624,-1.5707959510465743,-0.4491107841609279,0.38823444798331874,0.0001233752667933628,0.38748147443384656,-0.3721949834559749,0.38823444570388577,0.00012337010059011247,0.38748497274189886,-0.3721996019242988,0.08123538542830597,0.4777303288617348,0.299831224133061,0.9999999912459441,0.000132280491071022,-2.9806255945976086e-06,1.048604488333401e-06],"qvel":[-4.3628514467492055e-05,-0.000322179129181217,0.0006685547463006586,-0.0014655463468128483,-2.5979049214285022e-06,-4.3513416825275205e-05,-1.019136594343996,-6.026426323733946e-05,-1.0186208232637812,0.9798397024843947,-1.0191365950284752,-6.0233162013452144e-05,-1.018621514975652,0.9798444900890958,-6.477332295944079e-07,0.00015569416198988397,0.0018689610618956418,-0.00783013661680534,-5.4199833411904214e-05,-5.720031254166346e-09],"joint_position_rad":[-2.019906902469983,-1.6318903290697333,1.6971590476009026,-1.6358349849478624,-1.5707959510465743,-0.4491107841609279],"joint_velocity_rad_s":[-4.3628514467492055e-05,-0.000322179129181217,0.0006685547463006586,-0.0014655463468128483,-2.5979049214285022e-06,-4.3513416825275205e-05],"linkage_position_rad":[0.38823444798331874,0.0001233752667933628,0.38748147443384656,-0.3721949834559749,0.38823444570388577,0.00012337010059011247,0.38748497274189886,-0.3721996019242988],"tcp_position_m":[0.08124315310211101,0.4772077581675567,0.3058169200966667],"tcp_quaternion_wxyz":[3.778086435714677e-05,0.7071067028127374,0.7071068502039264,-0.00010864891132228765],"object_position_m":[0.08123538542830597,0.4777303288617348,0.299831224133061],"object_quaternion_wxyz":[0.9999999912459441,0.000132280491071022,-2.9806255945976086e-06,1.048604488333401e-06],"object_linear_velocity_m_s":[-6.477332295944079e-07,0.00015569416198988397,0.0018689610618956418],"object_angular_velocity_rad_s":[-0.00783013650290378,-5.421624525984331e-05,-6.67387747940151e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.05358864265642267,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01991574789364,-1.6411140657276067,1.6868390017364199,-1.6409541096880889,-1.570795207659775,-0.44911939965279984,90.0],"actuator_force":[-0.0002394415269009187,-18.318601664074322,-20.907513627485514,-2.413007735431961,0.0006314838917660381,4.359574657541998e-05,-0.39678373749787],"issued_joint_targets_rad":[-2.019915758279731,-1.6319564764899555,1.6972888838942841,-1.6361275830512418,-1.5707964173669993,-0.4491194115642732],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.540000000000152,"joint_targets_rad":[-2.019915758279731,-1.6319564764899555,1.6972888838942841,-1.6361275830512418,-1.5707964173669993,-0.4491194115642732],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.56000000000014,"qpos":[-2.0199077315373244,-1.6318964736170645,1.697171726010933,-1.6358628335186103,-1.570795999112323,-0.449111611050357,0.3667817186665484,0.00012262924353162536,0.36604076288439136,-0.35157266860731967,0.366781716569168,0.00012262446183909233,0.36604425320741807,-0.3515772329793262,0.0812354144371579,0.477732824749806,0.29986044560258795,0.9999999975743318,6.960454416923773e-05,-2.333316616664381e-06,1.048470479513383e-06],"qvel":[-3.950710708506315e-05,-0.00029369680044577805,0.0006031291661893978,-0.0013276024526218625,-2.2784699439203053e-06,-3.939864596398913e-05,-1.1179295927583766,-1.644605128759435e-05,-1.1172338015851306,1.0744982863340817,-1.1179295802346543,-1.6423244992443215e-05,-1.117233903325438,1.074499046017951,2.224214101983358e-06,9.607436282403228e-05,0.0011061561371248925,-0.004820079751037113,0.00010938896544107041,-1.3122601430415382e-11],"joint_position_rad":[-2.0199077315373244,-1.6318964736170645,1.697171726010933,-1.6358628335186103,-1.570795999112323,-0.449111611050357],"joint_velocity_rad_s":[-3.950710708506315e-05,-0.00029369680044577805,0.0006031291661893978,-0.0013276024526218625,-2.2784699439203053e-06,-3.939864596398913e-05],"linkage_position_rad":[0.3667817186665484,0.00012262924353162536,0.36604076288439136,-0.35157266860731967,0.366781716569168,0.00012262446183909233,0.36604425320741807,-0.3515772329793262],"tcp_position_m":[0.08124472300872694,0.47721009893969396,0.30581633509946826],"tcp_quaternion_wxyz":[3.428670451838634e-05,0.7071067044062578,0.7071068502638092,-9.858061371185318e-05],"object_position_m":[0.0812354144371579,0.477732824749806,0.29986044560258795],"object_quaternion_wxyz":[0.9999999975743318,6.960454416923773e-05,-2.333316616664381e-06,1.048470479513383e-06],"object_linear_velocity_m_s":[2.224214101983358e-06,9.607436282403228e-05,0.0011061561371248925],"object_angular_velocity_rad_s":[-0.0048200799803917015,0.00010937885852574466,-7.2794328415915586e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.055984209146369986,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157579979063,-1.641114221995573,1.6868389418801342,-1.6409545332001123,-1.5707951981738328,-0.4491194118192995,80.0],"actuator_force":[-0.00025007832982737455,-18.318018036838566,-20.90681992807322,-2.4130895954888274,0.0006283162394993269,3.9480125138879885e-05,-0.40083589682066645],"issued_joint_targets_rad":[-2.019915767419414,-1.631956552776273,1.6972890225862391,-1.63612775456224,-1.570796408663,-0.44911942259268955],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.56000000000014,"joint_targets_rad":[-2.019915767419414,-1.631956552776273,1.6972890225862391,-1.63612775456224,-1.570796408663,-0.44911942259268955],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.58000000000013,"qpos":[-2.019908483204745,-1.6319020699163984,1.6971831666044344,-1.6358880588091147,-1.5707960413609985,-0.44911235974446856,0.34354624787597704,0.00012272192768860007,0.3428219706651625,-0.3292440332935064,0.34354624605343304,0.00012271769201848082,0.3428254659893468,-0.3292486218080635,0.08123545488431123,0.47773422839646557,0.2998765118533124,0.9999999994064003,3.44142191434806e-05,-1.327251689341645e-06,1.0484570425461614e-06],"qvel":[-3.583766165803019e-05,-0.0002673609392125423,0.000544328678410845,-0.0012024817633996033,-2.0049029131798907e-06,-3.567286696510509e-05,-1.1988921430896515,2.2625887692917065e-05,-1.1979198494714487,1.151902472577747,-1.1988921309082814,2.2651141308457066e-05,-1.1979193097096101,1.1518995823248481,1.6949776752916793e-06,5.037304293249952e-05,0.0005744398918765819,-0.0025244734271823136,8.475240045159691e-05,7.11435548063571e-11],"joint_position_rad":[-2.019908483204745,-1.6319020699163984,1.6971831666044344,-1.6358880588091147,-1.5707960413609985,-0.44911235974446856],"joint_velocity_rad_s":[-3.583766165803019e-05,-0.0002673609392125423,0.000544328678410845,-0.0012024817633996033,-2.0049029131798907e-06,-3.567286696510509e-05],"linkage_position_rad":[0.34354624787597704,0.00012272192768860007,0.3428219706651625,-0.3292440332935064,0.34354624605343304,0.00012271769201848082,0.3428254659893468,-0.3292486218080635],"tcp_position_m":[0.08124614847311588,0.4772122263573115,0.3058158408898466],"tcp_quaternion_wxyz":[3.110886891817701e-05,0.7071067061369313,0.7071068498971095,-8.942596680224872e-05],"object_position_m":[0.08123545488431123,0.47773422839646557,0.2998765118533124],"object_quaternion_wxyz":[0.9999999994064003,3.44142191434806e-05,-1.327251689341645e-06,1.0484570425461614e-06],"object_linear_velocity_m_s":[1.6949776752916793e-06,5.037304293249952e-05,0.0005744398918765819],"object_angular_velocity_rad_s":[-0.002524473604894302,8.474710687249641e-05,-7.968867336657359e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.05855919381138247,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915767139198,-1.6411143527764058,1.6868388983521532,-1.6409549078560663,-1.5707951896080634,-0.4491194228240029,70.0],"actuator_force":[-0.00023280424284166656,-18.317621344329837,-20.906267975926767,-2.4131763471358454,0.0006263667588655153,3.5746929341939904e-05,-0.40491832648083914],"issued_joint_targets_rad":[-2.0199157756878656,-1.6319566219825965,1.697289148048422,-1.6361279096087205,-1.5707964008090223,-0.44911943257029163],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.58000000000013,"joint_targets_rad":[-2.0199157756878656,-1.6319566219825965,1.697289148048422,-1.6361279096087205,-1.5707964008090223,-0.44911943257029163],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.600000000000119,"qpos":[-2.019909165143856,-1.6319071630153932,1.6971934929100774,-1.6359109058302048,-1.5707960785235289,-0.4491130376366537,0.3188497802502527,0.00012352758653519103,0.3181485448923737,-0.30552067139413674,0.3188497786692363,0.00012352384599348732,0.31815205742361974,-0.3055253514841805,0.08123548069890854,0.47773494057513555,0.29988463182114306,0.9999999998618734,1.657375659162909e-05,-6.812036188127411e-07,1.048455712318444e-06],"qvel":[-3.2515437250937236e-05,-0.00024326941007745824,0.000491354228373971,-0.0010890752071808555,-1.7635309542228046e-06,-3.2299379423757004e-05,-1.265243122001537,5.5342057333498815e-05,-1.263917236276958,1.2151423758712492,-1.2652431116593552,5.536328591016667e-05,-1.2639161094278029,1.2151363339937524,9.596418177200808e-07,2.4865872149152482e-05,0.00028376055185167854,-0.0012454798227612882,4.805906905945518e-05,1.6377189131629492e-11],"joint_position_rad":[-2.019909165143856,-1.6319071630153932,1.6971934929100774,-1.6359109058302048,-1.5707960785235289,-0.4491130376366537],"joint_velocity_rad_s":[-3.2515437250937236e-05,-0.00024326941007745824,0.000491354228373971,-0.0010890752071808555,-1.7635309542228046e-06,-3.2299379423757004e-05],"linkage_position_rad":[0.3188497802502527,0.00012352758653519103,0.3181485448923737,-0.30552067139413674,0.3188497786692363,0.00012352384599348732,0.31815205742361974,-0.3055253514841805],"tcp_position_m":[0.08124744265843939,0.47721415908469716,0.3058154222200252],"tcp_quaternion_wxyz":[2.8220221769538562e-05,0.7071067081279251,0.7071068490305291,-8.110625067722574e-05],"object_position_m":[0.08123548069890854,0.47773494057513555,0.29988463182114306],"object_quaternion_wxyz":[0.9999999998618734,1.657375659162909e-05,-6.812036188127411e-07,1.048455712318444e-06],"object_linear_velocity_m_s":[9.596418177200808e-07,2.4865872149152482e-05,0.00028376055185167854],"object_angular_velocity_rad_s":[-0.0012454799235341119,4.8056457399658055e-05,-8.747826416638128e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.06127206765741991,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157754110115,-1.6411144574704444,1.6868388728643657,-1.640955235572686,-1.5707951818706993,-0.4491194327800455,60.0],"actuator_force":[-0.00021435941016534343,-18.31728114607131,-20.905781782772465,-2.4132573505224855,0.0006246795102242686,3.2366246472292914e-05,-0.40901677766999],"issued_joint_targets_rad":[-2.0199157831688965,-1.6319566847502578,1.6972892615436495,-1.6361280497815294,-1.5707963937197056,-0.4491194415980666],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.600000000000119,"joint_targets_rad":[-2.0199157831688965,-1.6319566847502578,1.6972892615436495,-1.6361280497815294,-1.5707963937197056,-0.4491194415980666],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.620000000000108,"qpos":[-2.0199097838853572,-1.6319117962921208,1.697202815014424,-1.6359315974862256,-1.5707961111918423,-0.4491136514218104,0.29295598060371497,0.0001249304672671028,0.2922855536329764,-0.28065848640008095,0.2929559792287724,0.00012492714310556258,0.2922890946854047,-0.2806633172207283,0.08123549453595616,0.4777352873788314,0.2998885973055669,0.9999999999682707,7.88967938948533e-06,-3.3471879909882223e-07,1.0484555829774195e-06],"qvel":[-2.9502907283296557e-05,-0.0002212694691680573,0.0004436030188329846,-0.000986306072677416,-1.5500961400452847e-06,-2.9244884297938115e-05,-1.319620080431634,8.27822197180522e-05,-1.317876232635731,1.2667462137290795,-1.3196200716185411,8.279996391728213e-05,-1.3178745555898643,1.2667373732215126,4.918915998508564e-07,1.1966556082754094e-05,0.00013720606312205087,-0.0005992136184148434,2.463416518366322e-05,2.810759678888319e-12],"joint_position_rad":[-2.0199097838853572,-1.6319117962921208,1.697202815014424,-1.6359315974862256,-1.5707961111918423,-0.4491136514218104],"joint_velocity_rad_s":[-2.9502907283296557e-05,-0.0002212694691680573,0.0004436030188329846,-0.000986306072677416,-1.5500961400452847e-06,-2.9244884297938115e-05],"linkage_position_rad":[0.29295598060371497,0.0001249304672671028,0.2922855536329764,-0.28065848640008095,0.2929559792287724,0.00012492714310556258,0.2922890946854047,-0.2806633172207283],"tcp_position_m":[0.08124861744062262,0.4772159144190516,0.30581506746247555],"tcp_quaternion_wxyz":[2.55952675979752e-05,0.7071067103418925,0.7071068477430354,-7.354764560187425e-05],"object_position_m":[0.08123549453595616,0.4777352873788314,0.2998885973055669],"object_quaternion_wxyz":[0.9999999999682707,7.88967938948533e-06,-3.3471879909882223e-07,1.0484555829774195e-06],"object_linear_velocity_m_s":[4.918915998508564e-07,1.1966556082754094e-05,0.00013720606312205087],"object_angular_velocity_rad_s":[-0.0005992136700691796,2.4632908685935525e-05,-9.623965840911773e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.06408812130075056,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199157828968137,-1.6411145372665972,1.6868388651373407,-1.640955519640804,-1.570795174879743,-0.44911944178823027,50.0],"actuator_force":[-0.00019685999950525002,-18.316974161285543,-20.90534096169995,-2.413330470021492,0.0006231656635691252,2.9305219840125574e-05,-0.4131222313734906],"issued_joint_targets_rad":[-2.019915789938061,-1.6319567416668626,1.6972893642160798,-1.6361281765181692,-1.5707963873186872,-0.44911944976708074],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.620000000000108,"joint_targets_rad":[-2.019915789938061,-1.6319567416668626,1.6972893642160798,-1.6361281765181692,-1.5707963873186872,-0.44911944976708074],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.640000000000096,"qpos":[-2.0199103453117013,-1.6319160098573144,1.6972112317819514,-1.6359503360758454,-1.570796139886869,-0.4491142071619324,0.2660809190116783,0.00012683517493039585,0.26545024461469496,-0.25486776043219217,0.26608091781297555,0.00012683220054056707,0.26545382489860203,-0.25487279505909316,0.08123550146869812,0.4777354532828018,0.2998905050309961,0.9999999999924577,3.736236986763684e-06,-1.6113673427658568e-07,1.0484555707224644e-06],"qvel":[-2.677052144361987e-05,-0.00020119585698033895,0.00040054718727579325,-0.0008931876199304655,-1.3613985003727668e-06,-2.6479224231589553e-05,-1.3641844953626119,0.00010588308281125297,-1.3619683768582422,1.308785718330765,-1.3641844878527225,0.00010589786098473744,-1.361966174352232,1.3087743424925355,2.415891712958066e-07,5.694562544125473e-06,6.571304451595342e-05,-0.0002851107007873265,1.2097270887428048e-05,4.285299214253595e-13],"joint_position_rad":[-2.0199103453117013,-1.6319160098573144,1.6972112317819514,-1.6359503360758454,-1.570796139886869,-0.4491142071619324],"joint_velocity_rad_s":[-2.677052144361987e-05,-0.00020119585698033895,0.00040054718727579325,-0.0008931876199304655,-1.3613985003727668e-06,-2.6479224231589553e-05],"linkage_position_rad":[0.2660809190116783,0.00012683517493039585,0.26545024461469496,-0.25486776043219217,0.26608091781297555,0.00012683220054056707,0.26545382489860203,-0.25487279505909316],"tcp_position_m":[0.0812496836538988,0.4772175082321507,0.30581476692558274],"tcp_quaternion_wxyz":[2.321056544152542e-05,0.7071067127325292,0.7071068461154468,-6.668231445895276e-05],"object_position_m":[0.08123550146869812,0.4777354532828018,0.2998905050309961],"object_quaternion_wxyz":[0.9999999999924577,3.736236986763684e-06,-1.6113673427658568e-07,1.0484555707224644e-06],"object_linear_velocity_m_s":[2.415891712958066e-07,5.694562544125473e-06,6.571304451595342e-05],"object_angular_velocity_rad_s":[-0.00028511072615360175,1.2096673035598786e-05,-1.0607804894823986e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.06697828712629292,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915789671943,-1.641114594281905,1.6868388738080946,-1.6409557639476324,-1.5707951685616088,-0.44911944993945024,40.0],"actuator_force":[-0.00018051190590995247,-18.316690506389023,-20.904934822624,-2.4133951739005397,0.0006218024801682986,2.653366425420245e-05,-0.4172269251560241],"issued_joint_targets_rad":[-2.01991579606356,-1.6319567932686152,1.697289457100354,-1.6361282911157098,-1.5707963815375519,-0.4491194571595482],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.640000000000096,"joint_targets_rad":[-2.01991579606356,-1.6319567932686152,1.697289457100354,-1.6361282911157098,-1.5707963815375519,-0.4491194571595482],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.660000000000085,"qpos":[-2.019910854749666,-1.6319198405845672,1.6972188321346395,-1.6359673050922108,-1.5707961650703672,-0.4491147103458889,0.2384016614992965,0.00012916332540297397,0.23782068540352674,-0.22832139767617102,0.23840166045114397,0.0001291606432764097,0.23782431524380285,-0.22832668470528758,0.08123550483768892,0.47773553202152785,0.29989141661738705,0.9999999999978897,1.7651922041386857e-06,-7.679392977925125e-08,1.0484555696055996e-06],"qvel":[-2.4291955205460487e-05,-0.00018289078932081713,0.0003617162863190305,-0.0008088212637493415,-1.1946396622457667e-06,-2.397509148895329e-05,-1.400707703591434,0.0001254216970923772,-1.397972711495518,1.342957996924496,-1.4007076972043948,0.00012543390246795176,-1.3979699982824179,1.3429442762927988,1.1628260774815674e-07,2.6962893276097242e-06,3.1336491339146425e-05,-0.0001349866899996236,5.82214668141103e-06,6.127348294321142e-14],"joint_position_rad":[-2.019910854749666,-1.6319198405845672,1.6972188321346395,-1.6359673050922108,-1.5707961650703672,-0.4491147103458889],"joint_velocity_rad_s":[-2.4291955205460487e-05,-0.00018289078932081713,0.0003617162863190305,-0.0008088212637493415,-1.1946396622457667e-06,-2.397509148895329e-05],"linkage_position_rad":[0.2384016614992965,0.00012916332540297397,0.23782068540352674,-0.22832139767617102,0.23840166045114397,0.0001291606432764097,0.23782431524380285,-0.22832668470528758],"tcp_position_m":[0.08125065117963494,0.477218955048582,0.30581451241846835],"tcp_quaternion_wxyz":[2.1044643428093405e-05,0.7071067152567482,0.7071068442194263,-6.0448140885580594e-05],"object_position_m":[0.08123550483768892,0.47773553202152785,0.29989141661738705],"object_quaternion_wxyz":[0.9999999999978897,1.7651922041386857e-06,-7.679392977925125e-08,1.0484555696055996e-06],"object_linear_velocity_m_s":[1.1628260774815674e-07,2.6962893276097242e-06,3.1336491339146425e-05],"object_angular_velocity_rad_s":[-0.0001349867022078511,5.8218636263044254e-06,-1.1712802041441522e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0699181670988242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01991579580443,-1.641114631019382,1.686838897014121,-1.6409559725230713,-1.5707951628502068,-0.44911945731576014,30.0],"actuator_force":[-0.00016532744575670222,-18.316424553901015,-20.9045567555645,-2.413451589055285,0.0006205740463656184,2.402421327474258e-05,-0.42132409354288214],"issued_joint_targets_rad":[-2.019915801606983,-1.6319568400442719,1.6972895411318847,-1.636128394744513,-1.5707963763149513,-0.4491194638497235],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.660000000000085,"joint_targets_rad":[-2.019915801606983,-1.6319568400442719,1.6972895411318847,-1.636128394744513,-1.5707963763149513,-0.4491194638497235],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.680000000000074,"qpos":[-2.019911317026713,-1.6319233222937173,1.6972256961113843,-1.6359826709204397,-1.5707961871518352,-0.44911516594359013,0.21006331018271812,0.00013185062817058958,0.20954284811071286,-0.20116168867086826,0.21006330926289363,0.00013184818803025426,0.20954653762903128,-0.20116727354242883,0.08123550645082818,0.4777355692584635,0.2998918508700561,0.9999999999991032,8.330949779219584e-07,-3.641195140391403e-08,1.0484555695100935e-06],"qvel":[-2.2043458896014245e-05,-0.00016620651710458584,0.000326689266689728,-0.0007323901276237024,-1.0473374507504246e-06,-2.1707759232555163e-05,-1.430641318932721,0.0001420410809173511,-1.427346448302128,1.3706527737148102,-1.4306413135157863,0.00014205103024208536,-1.4273432307250045,1.3706368381100345,5.541331090791774e-08,1.273771663841957e-06,1.4913919602632077e-05,-6.376793403204684e-05,2.774335325211072e-06,8.416355231926872e-15],"joint_position_rad":[-2.019911317026713,-1.6319233222937173,1.6972256961113843,-1.6359826709204397,-1.5707961871518352,-0.44911516594359013],"joint_velocity_rad_s":[-2.2043458896014245e-05,-0.00016620651710458584,0.000326689266689728,-0.0007323901276237024,-1.0473374507504246e-06,-2.1707759232555163e-05],"linkage_position_rad":[0.21006331018271812,0.00013185062817058958,0.20954284811071286,-0.20116168867086826,0.21006330926289363,0.00013184818803025426,0.20954653762903128,-0.20116727354242883],"tcp_position_m":[0.08125152902270881,0.4772202681398198,0.3058142969850659],"tcp_quaternion_wxyz":[1.9077866395701412e-05,0.707106717875951,0.7071068421172094,-5.478834044449646e-05],"object_position_m":[0.08123550645082818,0.4777355692584635,0.2998918508700561],"object_quaternion_wxyz":[0.9999999999991032,8.330949779219584e-07,-3.641195140391403e-08,1.0484555695100935e-06],"object_linear_velocity_m_s":[5.541331090791774e-08,1.273771663841957e-06,1.4913919602632077e-05],"object_angular_velocity_rad_s":[-6.376793984944134e-05,2.7742016095137952e-06,-1.2955431662765367e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07288722888143868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158013557064,-1.641114650043925,1.6868389327461235,-1.6409561492769078,-1.5707951576861487,-0.4491194639912682,20.0],"actuator_force":[-0.00015127442884477205,-18.31617289357382,-20.904202437197455,-2.41350016547176,0.0006194665883185735,2.1752084222725898e-05,-0.4254078100380525],"issued_joint_targets_rad":[-2.019915806623957,-1.6319568824389894,1.6972896171563534,-1.6361284884607918,-1.570796371595832,-0.44911946990468227],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.680000000000074,"joint_targets_rad":[-2.019915806623957,-1.6319568824389894,1.6972896171563534,-1.6361284884607918,-1.570796371595832,-0.44911946990468227],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.700000000000063,"qpos":[-2.0199117365192154,-1.6319264859584377,1.6972318957907793,-1.635996584401766,-1.5707962064943735,-0.4491155784550372,0.18118477270173197,0.00013484444966778756,0.18073641819162115,-0.17350586115987485,0.1811847718909636,0.0001348422070821492,0.18074017746245843,-0.1735117872712868,0.08123550721753335,0.4777355868403867,0.2998920574445641,0.9999999999993731,3.930026898404849e-07,-1.7219681229679984e-08,1.0484555695028645e-06],"qvel":[-2.0003557781485338e-05,-0.0001510058264844063,0.0002950884397828284,-0.000663152343492558,-9.172871766903067e-07,-1.965483775596785e-05,-1.455174941130057,0.00015627300008413267,-1.451282943141502,1.3930074898066773,-1.455174936553591,0.00015628094779628337,-1.45127922020832,1.392989417582756,2.6273408510708044e-08,6.011442787108278e-07,7.091564405364261e-06,-3.0094214248481454e-05,1.3153727632210133e-06,1.1247974178619258e-15],"joint_position_rad":[-2.0199117365192154,-1.6319264859584377,1.6972318957907793,-1.635996584401766,-1.5707962064943735,-0.4491155784550372],"joint_velocity_rad_s":[-2.0003557781485338e-05,-0.0001510058264844063,0.0002950884397828284,-0.000663152343492558,-9.172871766903067e-07,-1.965483775596785e-05],"linkage_position_rad":[0.18118477270173197,0.00013484444966778756,0.18073641819162115,-0.17350586115987485,0.1811847718909636,0.0001348422070821492,0.18074017746245843,-0.1735117872712868],"tcp_position_m":[0.08125232538411435,0.4772214596198016,0.3058141147033322],"tcp_quaternion_wxyz":[1.7292298501398722e-05,0.7071067205561533,0.7071068398623158,-4.9651058986569226e-05],"object_position_m":[0.08123550721753335,0.4777355868403867,0.2998920574445641],"object_quaternion_wxyz":[0.9999999999993731,3.930026898404849e-07,-1.7219681229679984e-08,1.0484555695028645e-06],"object_linear_velocity_m_s":[2.6273408510708044e-08,6.011442787108278e-07,7.091564405364261e-06],"object_angular_velocity_rad_s":[-3.0094217006635094e-05,1.3153096583250447e-06,-1.435534726072872e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07586814127828218,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915806381243,-1.6411146537991743,1.6868389790503815,-1.6409562978567371,-1.5707951530160376,-0.44911947003291613,10.0],"actuator_force":[-0.0001383009425808268,-18.315933350879277,-20.903868856708414,-2.413541493136222,0.0006184678856016035,1.9694836112194025e-05,-0.4294728412165374],"issued_joint_targets_rad":[-2.0199158111647404,-1.631956920857957,1.6972896859383442,-1.6361285732179307,-1.5707963673307506,-0.4491194753850325],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.700000000000063,"joint_targets_rad":[-2.0199158111647404,-1.631956920857957,1.6972896859383442,-1.6361285732179307,-1.5707963673307506,-0.4491194753850325],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.720000000000052,"qpos":[-2.019912117195426,-1.6319293599166298,1.6972374961050471,-1.636009182265884,-1.5707962234198702,-0.4491159519547406,0.15186349028142068,0.00013810179846828312,0.1514995566356616,-0.14545063686473225,0.15186348956295123,0.00013809971370951985,0.15150339582524192,-0.14545694652385616,0.0812355075805657,0.4777355951360393,0.29989215564934685,0.999999999999433,1.853568309344615e-07,-8.132398989801514e-09,1.0484555695024704e-06],"qvel":[-1.815281439093082e-05,-0.0001371619319066384,0.00026657451008586173,-0.0006004345983898882,-8.025302221723329e-07,-1.7796053738536994e-05,-1.4752834492182927,0.000168557442565588,-1.4707592435386754,1.4109524394925606,-1.4752834453721124,0.00016856359159754395,-1.4707550075972142,1.4109322644552706,1.242484074251934e-08,2.835779285934226e-07,3.3706547866809953e-06,-1.4196251225434362e-05,6.220379211486277e-07,1.4737039659869086e-16],"joint_position_rad":[-2.019912117195426,-1.6319293599166298,1.6972374961050471,-1.636009182265884,-1.5707962234198702,-0.4491159519547406],"joint_velocity_rad_s":[-1.815281439093082e-05,-0.0001371619319066384,0.00026657451008586173,-0.0006004345983898882,-8.025302221723329e-07,-1.7796053738536994e-05],"linkage_position_rad":[0.15186349028142068,0.00013810179846828312,0.1514995566356616,-0.14545063686473225,0.15186348956295123,0.00013809971370951985,0.15150339582524192,-0.14545694652385616],"tcp_position_m":[0.08125304772936387,0.4772225405378048,0.3058139605261323],"tcp_quaternion_wxyz":[1.567156884917778e-05,0.7071067232678199,0.7071068375004159,-4.4988980630609386e-05],"object_position_m":[0.0812355075805657,0.4777355951360393,0.29989215564934685],"object_quaternion_wxyz":[0.999999999999433,1.853568309344615e-07,-8.132398989801514e-09,1.0484555695024704e-06],"object_linear_velocity_m_s":[1.242484074251934e-08,2.835779285934226e-07,3.3706547866809953e-06],"object_angular_velocity_rad_s":[-1.4196252529761392e-05,6.220081528699332e-07,-1.5936064355219352e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.07884622517733807,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915810931143,-1.6411146445136182,1.6868390341356962,-1.6409564215815942,-1.5707951487918346,-0.44911947550118964,0.0],"actuator_force":[-0.00012634567747227265,-18.315704421213923,-20.903553742735767,-2.4135761980161305,0.0006175670400807576,1.7832149325158753e-05,-0.43351451926657036],"issued_joint_targets_rad":[-2.0199158152747487,-1.631956955669779,1.6972897481691516,-1.6361286498766718,-1.5707963634752744,-0.44911948034554616],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.720000000000052,"joint_targets_rad":[-2.0199158152747487,-1.631956955669779,1.6972897481691516,-1.6361286498766718,-1.5707963634752744,-0.44911948034554616],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.740000000000041,"qpos":[-2.0199124971589417,-1.631932553646996,1.6972418133266065,-1.6360212047637466,-1.5707962377805123,-0.44911629013373683,0.12499685779948257,9.699672537198582e-05,0.12481561231876474,-0.11968487916476862,0.12499685842162069,9.697717447834638e-05,0.12481859469649398,-0.11968691756538972,0.08123550775212612,0.4777355990489451,0.2998922023219554,0.9999999999994466,8.74146199476965e-08,-3.838013494044316e-09,1.0484555695024768e-06],"qvel":[-1.6901895307661263e-05,-0.00016536746926659724,0.00019741149846585487,-0.0005792483945589785,-8.252532007095203e-07,-1.6111932903309205e-05,-1.2207299020695157,-0.00037505531781259564,-1.2155253689751597,1.167733895265421,-1.2207306624026169,-0.0003810664828752369,-1.215543663806416,1.1678153209763356,5.867880814486143e-09,1.337463781190201e-07,1.6017908823448244e-06,-6.695482206671472e-06,2.9376770627066213e-07,1.9021021837181432e-17],"joint_position_rad":[-2.0199124971589417,-1.631932553646996,1.6972418133266065,-1.6360212047637466,-1.5707962377805123,-0.44911629013373683],"joint_velocity_rad_s":[-1.6901895307661263e-05,-0.00016536746926659724,0.00019741149846585487,-0.0005792483945589785,-8.252532007095203e-07,-1.6111932903309205e-05],"linkage_position_rad":[0.12499685779948257,9.699672537198582e-05,0.12481561231876474,-0.11968487916476862,0.12499685842162069,9.697717447834638e-05,0.12481859469649398,-0.11968691756538972],"tcp_position_m":[0.08125384216632799,0.4772237733069139,0.30581452777816903],"tcp_quaternion_wxyz":[1.3880106065636743e-05,0.7071067382135431,0.7071068229008491,-3.9842350748470276e-05],"object_position_m":[0.08123550775212612,0.4777355990489451,0.2998922023219554],"object_quaternion_wxyz":[0.9999999999994466,8.74146199476965e-08,-3.838013494044316e-09,1.0484555695024768e-06],"object_linear_velocity_m_s":[5.867880814486143e-09,1.337463781190201e-07,1.6017908823448244e-06],"object_angular_velocity_rad_s":[-6.695482822661529e-06,2.937536664387961e-07,-1.7725952472183065e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0815083278218003,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158150375105,-1.6411140599990715,1.6868396801839511,-1.640956052155143,-1.5707951449872886,-0.4491194804481201,0.0],"actuator_force":[0.00012500098546297522,-18.296865716444245,-20.88323088469724,-2.409498856242294,0.000628921931934201,1.6036098685390243e-05,-0.2923829886945004],"issued_joint_targets_rad":[-2.019915818978675,-1.631956987743267,1.6972898052405314,-1.6361287205826,-1.5707963599976797,-0.4491194848194916],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.740000000000041,"joint_targets_rad":[-2.019915818978675,-1.631956987743267,1.6972898052405314,-1.6361287205826,-1.5707963599976797,-0.4491194848194916],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.76000000000003,"qpos":[-2.019912804919164,-1.6319356937402405,1.6972456003378213,-1.6360321691060489,-1.570796251582503,-0.44911659631985595,0.10296840547632106,0.00010275088971368072,0.10286112483507523,-0.0986487005435191,0.10296840504161134,0.00010273960988674493,0.10286420518563043,-0.09865128154840758,0.08123550783311961,0.477735600894342,0.299892224500565,0.9999999999994498,4.122341248349485e-08,-1.8106500547691317e-09,1.0484555695024844e-06],"qvel":[-1.4390786970145267e-05,-0.0001478060429136548,0.00018301151308637304,-0.0005201726571433873,-6.196330137859211e-07,-1.4589101971645395e-05,-1.0004144128969636,0.000494520127039901,-0.9974033312716903,0.9545200814173203,-1.0004141880860864,0.0004964858857706142,-0.9973910357767632,0.9544597107347792,2.7692850127959316e-09,6.307479651777028e-08,7.611337807211479e-07,-3.1575848364475494e-06,1.3864006792720581e-07,2.426782545027948e-18],"joint_position_rad":[-2.019912804919164,-1.6319356937402405,1.6972456003378213,-1.6360321691060489,-1.570796251582503,-0.44911659631985595],"joint_velocity_rad_s":[-1.4390786970145267e-05,-0.0001478060429136548,0.00018301151308637304,-0.0005201726571433873,-6.196330137859211e-07,-1.4589101971645395e-05],"linkage_position_rad":[0.10296840547632106,0.00010275088971368072,0.10286112483507523,-0.0986487005435191,0.10296840504161134,0.00010273960988674493,0.10286420518563043,-0.09865128154840758],"tcp_position_m":[0.08125455259256723,0.47722490945412005,0.30581522472031153],"tcp_quaternion_wxyz":[1.218434016547878e-05,0.7071067389142232,0.7071068224891561,-3.497031454501605e-05],"object_position_m":[0.08123550783311961,0.477735600894342,0.299892224500565],"object_quaternion_wxyz":[0.9999999999994498,4.122341248349485e-08,-1.8106500547691317e-09,1.0484555695024844e-06],"object_linear_velocity_m_s":[2.7692850127959316e-09,6.307479651777028e-08,7.611337807211479e-07],"object_angular_velocity_rad_s":[-3.1575851271565118e-06,1.3863344675208518e-07,-1.975591558267861e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08367685194545019,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158187820636,-1.6411136241224982,1.6868401611902202,-1.6409558057814657,-1.570795141491489,-0.4491194849103084,0.0],"actuator_force":[-0.00027141101145389257,-18.296738347349674,-20.884082900436624,-2.409801071994025,0.0006170088083763403,1.461497092236641e-05,-0.2926975209813687],"issued_joint_targets_rad":[-2.019915822336417,-1.6319570171140265,1.6972898572173307,-1.6361287849043975,-1.5707963568517636,-0.4491194888743098],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.76000000000003,"joint_targets_rad":[-2.019915822336417,-1.6319570171140265,1.6972898572173307,-1.6361287849043975,-1.5707963568517636,-0.4491194888743098],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.780000000000019,"qpos":[-2.019913078268623,-1.6319384393974095,1.6972491432365637,-1.6360419934682797,-1.5707962628119378,-0.44911687355603475,0.0849155431311219,0.00011221620535753547,0.08486305087705015,-0.08143090981321785,0.08491554462737827,0.0001122211615966738,0.08486634791398966,-0.08143455541602763,0.08123550787133639,0.4777356017646153,0.29989223503911466,0.99999999999945,1.9440059962437222e-08,-8.540410459754271e-10,1.0484555695024859e-06],"qvel":[-1.3047086014694527e-05,-0.00012794308548179305,0.00017175553778646472,-0.00046568109836289033,-5.284135313947067e-07,-1.3209435112249951e-05,-0.8198693317675134,0.00043847578547878403,-0.8173153330508155,0.7816629760711897,-0.8198693303380439,0.00043857833540576784,-0.8173058654315987,0.7816164008546547,1.3064566581061062e-09,2.974506614093783e-08,3.6165952019076217e-07,-1.4890655041984847e-06,6.540565004723194e-08,3.0656443227828666e-19],"joint_position_rad":[-2.019913078268623,-1.6319384393974095,1.6972491432365637,-1.6360419934682797,-1.5707962628119378,-0.44911687355603475],"joint_velocity_rad_s":[-1.3047086014694527e-05,-0.00012794308548179305,0.00017175553778646472,-0.00046568109836289033,-5.284135313947067e-07,-1.3209435112249951e-05],"linkage_position_rad":[0.0849155431311219,0.00011221620535753547,0.08486305087705015,-0.08143090981321785,0.08491554462737827,0.0001122211615966738,0.08486634791398966,-0.08143455541602763],"tcp_position_m":[0.08125517367128714,0.4772258986022249,0.3058157441184035],"tcp_quaternion_wxyz":[1.0700250549747939e-05,0.7071067376507991,0.7071068239745562,-3.0707717175721834e-05],"object_position_m":[0.08123550787133639,0.4777356017646153,0.29989223503911466],"object_quaternion_wxyz":[0.99999999999945,1.9440059962437222e-08,-8.540410459754271e-10,1.0484555695024859e-06],"object_linear_velocity_m_s":[1.3064566581061062e-09,2.974506614093783e-08,3.6165952019076217e-07],"object_angular_velocity_rad_s":[-1.4890656413450463e-06,6.540252760904567e-08,-2.208569445383243e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08543336145626876,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158221910984,-1.641113332383795,1.6868404907647476,-1.640955668775526,-1.57079513835185,-0.4491194889540436,0.0],"actuator_force":[-0.00026901054525296786,-18.298608738578423,-20.886007158746906,-2.4102695437868533,0.0006150713970782817,1.3244506817500223e-05,-0.29286107739722134],"issued_joint_targets_rad":[-2.019915825376234,-1.631957043622162,1.6972899040944438,-1.6361288428360798,-1.570796354007131,-0.44911949254512185],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.780000000000019,"joint_targets_rad":[-2.019915825376234,-1.631957043622162,1.6972899040944438,-1.6361288428360798,-1.570796354007131,-0.44911949254512185],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.800000000000008,"qpos":[-2.0199133273443914,-1.6319408108052063,1.6972524658815222,-1.63605078871424,-1.5707962725056754,-0.4491171245730555,0.07012068590812888,0.0001201621276764321,0.07011602068916453,-0.06733051862003546,0.07012068707138105,0.00012016641351418371,0.0701194903707696,-0.06733500739204898,0.08123550788936401,0.47773560217501926,0.2998922400465564,0.99999999999945,9.167458749903349e-09,-4.027901935938466e-10,1.0484555695024859e-06],"qvel":[-1.191434344154405e-05,-0.00011040695186941173,0.00016089492512866443,-0.0004169581577947263,-4.5919507834284037e-07,-1.1960144930840845e-05,-0.6719070601181122,0.00036176563472905675,-0.6696588581570714,0.6401558526557588,-0.6719070779564138,0.00036170685936778196,-0.6696508522863409,0.6401170418957586,6.162244352666593e-10,1.4027110725891039e-08,1.7184289593460615e-07,-7.022099002426366e-07,3.085025370785196e-08,3.82916435700775e-20],"joint_position_rad":[-2.0199133273443914,-1.6319408108052063,1.6972524658815222,-1.63605078871424,-1.5707962725056754,-0.4491171245730555],"joint_velocity_rad_s":[-1.191434344154405e-05,-0.00011040695186941173,0.00016089492512866443,-0.0004169581577947263,-4.5919507834284037e-07,-1.1960144930840845e-05],"linkage_position_rad":[0.07012068590812888,0.0001201621276764321,0.07011602068916453,-0.06733051862003546,0.07012068707138105,0.00012016641351418371,0.0701194903707696,-0.06733500739204898],"tcp_position_m":[0.08125571862663548,0.47722675671775405,0.3058160947219033],"tcp_quaternion_wxyz":[9.41064001497392e-06,0.7071067370490206,0.7071068247458238,-2.7003794034185414e-05],"object_position_m":[0.08123550788936401,0.47773560217501926,0.2998922400465564],"object_quaternion_wxyz":[0.99999999999945,9.167458749903349e-09,-4.027901935938466e-10,1.0484555695024859e-06],"object_linear_velocity_m_s":[6.162244352666593e-10,1.4027110725891039e-08,1.7184289593460615e-07],"object_angular_velocity_rad_s":[-7.022099649313329e-07,3.0848781236022376e-08,-2.489998008381799e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08685712667456302,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158252695995,-1.6411131370967684,1.6868407187571666,-1.6409556007917612,-1.5707951355169105,-0.44911949261518597,0.0],"actuator_force":[-0.0002301130393789208,-18.300489802376887,-20.887852218762873,-2.4107102229811517,0.0006144138902755003,1.1993427875722773e-05,-0.29299795860286704],"issued_joint_targets_rad":[-2.0199158281296823,-1.631957067511274,1.6972899463429478,-1.6361288949846193,-1.5707963514336416,-0.449119495869778],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.800000000000008,"joint_targets_rad":[-2.0199158281296823,-1.631957067511274,1.6972899463429478,-1.6361288949846193,-1.5707963514336416,-0.449119495869778],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.819999999999997,"qpos":[-2.019913554866069,-1.6319428575838033,1.6972555732984276,-1.6360586658740546,-1.5707962809338596,-0.4491173518499522,0.057995856948204465,0.00012669529115408735,0.05803306914555972,-0.05578223249912478,0.0579958578384877,0.00012669864652838233,0.058036686742127815,-0.055787433077603824,0.0812355078978668,0.47773560236855617,0.29989224242583834,0.99999999999945,4.323142884034985e-09,-1.8995721443311029e-10,1.0484555695024859e-06],"qvel":[-1.0883550074157438e-05,-9.53271687585106e-05,0.00015024506984021607,-0.00037353674585064865,-3.9948852188824954e-07,-1.0829002680941504e-05,-0.5506485037328578,0.000296786011897523,-0.5486923830398541,0.5243161561644307,-0.5506485152565282,0.0002967460200531126,-0.5486855331099598,0.5242833733471107,2.906289784158869e-10,6.6148410270973125e-09,8.165073372920143e-08,-3.31144899040226e-07,1.4549850194560946e-08,4.736541241197274e-21],"joint_position_rad":[-2.019913554866069,-1.6319428575838033,1.6972555732984276,-1.6360586658740546,-1.5707962809338596,-0.4491173518499522],"joint_velocity_rad_s":[-1.0883550074157438e-05,-9.53271687585106e-05,0.00015024506984021607,-0.00037353674585064865,-3.9948852188824954e-07,-1.0829002680941504e-05],"linkage_position_rad":[0.057995856948204465,0.00012669529115408735,0.05803306914555972,-0.05578223249912478,0.0579958578384877,0.00012669864652838233,0.058036686742127815,-0.055787433077603824],"tcp_position_m":[0.08125619746023253,0.47722750147981025,0.3058163082403377],"tcp_quaternion_wxyz":[8.289958919582776e-06,0.7071067372002342,0.7071068247242323,-2.3785046920468064e-05],"object_position_m":[0.0812355078978668,0.47773560236855617,0.29989224242583834],"object_quaternion_wxyz":[0.99999999999945,4.323142884034985e-09,-1.8995721443311029e-10,1.0484555695024859e-06],"object_linear_velocity_m_s":[2.906289784158869e-10,6.6148410270973125e-09,8.165073372920143e-08],"object_angular_velocity_rad_s":[-3.3114492954924065e-07,1.4549155813101527e-08,-2.8336904787045614e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08801307647684244,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915828051772,-1.6411130056513932,1.6868408792238079,-1.6409555754984049,-1.5707951329556447,-0.44911949593145595,0.0],"actuator_force":[-0.00019295137690278352,-18.302165267676628,-20.889486177175513,-2.4111011375899807,0.0006139379596561412,1.0859516237360367e-05,-0.293100644387678],"issued_joint_targets_rad":[-2.0199158306239284,-1.6319570890399462,1.6972899844277465,-1.6361289419413625,-1.5707963491049246,-0.4491194988811263],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.819999999999997,"joint_targets_rad":[-2.0199158306239284,-1.6319570890399462,1.6972899844277465,-1.6361289419413625,-1.5707963491049246,-0.4491194988811263],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.839999999999986,"qpos":[-2.019913762654695,-1.631944625954036,1.697258470252008,-1.6360657249721828,-1.5707962882571893,-0.449117557632011,0.04805917508764564,0.00013205016267870995,0.04813258551836823,-0.046323209887246426,0.0480591757758816,0.00013205279854084444,0.048136328898165485,-0.04632900922193267,0.08123550790187681,0.47773560245982327,0.29989224355634647,0.99999999999945,2.0386846520795094e-09,-8.958193126202561e-11,1.0484555695024859e-06],"qvel":[-9.93727752198847e-06,-8.241415857185857e-05,0.0001398648503860768,-0.0003348452903987824,-3.470522556173187e-07,-9.804844011576674e-06,-0.45127440461971446,0.00024313978751316697,-0.44959332755065284,0.4294786146429558,-0.45127441400047913,0.0002431061155575627,-0.4495875297622318,0.4294511264099416,1.370615860429067e-10,3.1193919827027345e-09,3.879602262443419e-08,-1.561595610739136e-07,6.861755349655588e-09,5.783301960922958e-22],"joint_position_rad":[-2.019913762654695,-1.631944625954036,1.697258470252008,-1.6360657249721828,-1.5707962882571893,-0.449117557632011],"joint_velocity_rad_s":[-9.93727752198847e-06,-8.241415857185857e-05,0.0001398648503860768,-0.0003348452903987824,-3.470522556173187e-07,-9.804844011576674e-06],"linkage_position_rad":[0.04805917508764564,0.00013205016267870995,0.04813258551836823,-0.046323209887246426,0.0480591757758816,0.00013205279854084444,0.048136328898165485,-0.04632900922193267],"tcp_position_m":[0.08125661873974646,0.4772281486194021,0.30581641383133706],"tcp_quaternion_wxyz":[7.314939756548499e-06,0.7071067379592624,0.7071068240646146,-2.098467151422081e-05],"object_position_m":[0.08123550790187681,0.47773560245982327,0.29989224355634647],"object_quaternion_wxyz":[0.99999999999945,2.0386846520795094e-09,-8.958193126202561e-11,1.0484555695024859e-06],"object_linear_velocity_m_s":[1.370615860429067e-10,3.1193919827027345e-09,3.879602262443419e-08],"object_angular_velocity_rad_s":[-1.5615957546206138e-07,6.86142789691742e-09,-3.300283217680964e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0889529963088441,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158305671734,-1.6411129166215686,1.686840994488153,-1.6409555760598238,-1.5707951306402834,-0.4491194989355226,0.0],"actuator_force":[-0.00016091394809336634,-18.30361567163618,-20.890897467864306,-2.4114410147805074,0.0006135136785587747,9.83264536102979e-06,-0.29317345007539397],"issued_joint_targets_rad":[-2.0199158328834033,-1.6319571084451974,1.6972900187695759,-1.6361289842393905,-1.5707963469973394,-0.449119501608735],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.839999999999986,"joint_targets_rad":[-2.0199158328834033,-1.6319571084451974,1.6972900187695759,-1.6361289842393905,-1.5707963469973394,-0.449119501608735],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.859999999999975,"qpos":[-2.019913952319808,-1.631946156051663,1.6972611629412624,-1.6360720549703003,-1.5707962946094904,-0.4491177439522241,0.03991573197259221,0.0001364364155921294,0.040020091029847625,-0.03857479339805586,0.03991573249539938,0.00013643844634429457,0.04002394053477694,-0.038581093694006245,0.0812355079037679,0.47773560250286257,0.2998922440935024,0.99999999999945,9.613920853701044e-10,-4.2245314070650006e-11,1.0484555695024859e-06],"qvel":[-9.068108465547562e-06,-7.136625859533574e-05,0.00012982827360163193,-0.00030035321646269814,-3.009429170149537e-07,-8.877551064196924e-06,-0.3698348124478373,0.00019914112074695715,-0.3684039999711986,0.35182377125044023,-0.3698348201141533,0.00019911302459177342,-0.36839912173319833,0.3518008156665813,6.463687483511511e-11,1.471026089198508e-09,1.8433753728421625e-08,-7.364088356244682e-08,3.2359349451278755e-09,7.550708259891516e-23],"joint_position_rad":[-2.019913952319808,-1.631946156051663,1.6972611629412624,-1.6360720549703003,-1.5707962946094904,-0.4491177439522241],"joint_velocity_rad_s":[-9.068108465547562e-06,-7.136625859533574e-05,0.00012982827360163193,-0.00030035321646269814,-3.009429170149537e-07,-8.877551064196924e-06],"linkage_position_rad":[0.03991573197259221,0.0001364364155921294,0.040020091029847625,-0.03857479339805586,0.03991573249539938,0.00013643844634429457,0.04002394053477694,-0.038581093694006245],"tcp_position_m":[0.08125698989895246,0.4772287117572629,0.30581643601252695],"tcp_quaternion_wxyz":[6.465368322563406e-06,0.7071067391800242,0.7071068229203333,-1.8544638540356774e-05],"object_position_m":[0.0812355079037679,0.47773560250286257,0.2998922440935024],"object_quaternion_wxyz":[0.99999999999945,9.613920853701044e-10,-4.2245314070650006e-11,1.0484555695024859e-06],"object_linear_velocity_m_s":[6.463687483511511e-11,1.471026089198508e-09,1.8433753728421625e-08],"object_angular_velocity_rad_s":[-7.36408903477529e-08,3.2357805267317307e-09,-3.3255223179536744e-23],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.08971824897542979,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158328421185,-1.641112855939413,1.686841079173503,-1.6409555917669443,-1.5707951285461674,-0.44911950165679615,0.0],"actuator_force":[-0.00013380123436945723,-18.30485327206179,-20.89209884495949,-2.4117330766756595,0.0006131259531230171,8.902820383127619e-06,-0.29322506058962616],"issued_joint_targets_rad":[-2.019915834930204,-1.6319571259406962,1.6972900497457026,-1.6361290223553366,-1.5707963450896203,-0.4491195040793479],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.859999999999975,"joint_targets_rad":[-2.019915834930204,-1.6319571259406962,1.6972900497457026,-1.6361290223553366,-1.5707963450896203,-0.4491195040793479],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.879999999999963,"qpos":[-2.0199141253428086,-1.6319474822886073,1.6972636589293393,-1.6360777347910498,-1.5707963001084058,-0.449117912651301,0.03324189599306227,0.00014002879297698743,0.03337249117044564,-0.032227150625913074,0.033241896381493906,0.00014003032250735445,0.033376429751833844,-0.03223386855889657,0.08123550790465972,0.4777356025231589,0.29989224434872974,0.99999999999945,4.533682443262984e-10,-1.992201261578837e-11,1.0484555695024859e-06],"qvel":[-8.270219246900771e-06,-6.191300305304951e-05,0.00012019723305452353,-0.0002695848598740295,-2.604219900365954e-07,-8.037961877016638e-06,-0.30309278146938945,0.00016309469392741647,-0.3018841003281414,0.2882300761846617,-0.3030927876974333,0.0001630714808961528,-0.3018800149224131,0.2882109686755968,3.048164893150133e-11,6.936986426232804e-10,8.758707915303783e-09,-3.4727175192685043e-08,1.5260118829224112e-09,6.5546940184069975e-24],"joint_position_rad":[-2.0199141253428086,-1.6319474822886073,1.6972636589293393,-1.6360777347910498,-1.5707963001084058,-0.449117912651301],"joint_velocity_rad_s":[-8.270219246900771e-06,-6.191300305304951e-05,0.00012019723305452353,-0.0002695848598740295,-2.604219900365954e-07,-8.037961877016638e-06],"linkage_position_rad":[0.03324189599306227,0.00014002879297698743,0.03337249117044564,-0.032227150625913074,0.033241896381493906,0.00014003032250735445,0.033376429751833844,-0.03223386855889657],"tcp_position_m":[0.08125731737990187,0.477229202603233,0.3058163949660426],"tcp_quaternion_wxyz":[5.7238486536328e-06,0.7071067407382209,0.7071068214211732,-1.6415005210451687e-05],"object_position_m":[0.08123550790465972,0.4777356025231589,0.29989224434872974],"object_quaternion_wxyz":[0.99999999999945,4.533682443262984e-10,-1.992201261578837e-11,1.0484555695024859e-06],"object_linear_velocity_m_s":[3.048164893150133e-11,6.936986426232804e-10,8.758707915303783e-09],"object_angular_velocity_rad_s":[-3.4727178392519986e-08,1.5259390631185674e-09,-6.311475278317434e-24],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0903419801678765,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158349001842,-1.6411128143205878,1.6868411429131225,-1.6409556158369516,-1.5707951266514106,-0.44911950412188567,0.0],"actuator_force":[-0.00011102705275334301,-18.305898862739923,-20.893110925655492,-2.4119820369635363,0.0006127706966481128,8.060895396511114e-06,-0.29326177289369526],"issued_joint_targets_rad":[-2.019915836784336,-1.6319571417184566,1.6972900776940827,-1.6361290567150504,-1.5707963433626153,-0.4491195063171738],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.879999999999963,"joint_targets_rad":[-2.019915836784336,-1.6319571417184566,1.6972900776940827,-1.6361290567150504,-1.5707963433626153,-0.4491195063171738],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.899999999999952,"qpos":[-2.0199142830950185,-1.6319486340319538,1.6972659668541359,-1.636082834404279,-1.5707963048579423,-0.44911806539584737,0.02777244608215236,0.00014297091644241398,0.027925134905613748,-0.0270267093975806,0.02777244636179824,0.00014297203342180138,0.0279291479386709,-0.027033774456085048,0.08123550790508027,0.4777356025327301,0.2998922444699996,0.99999999999945,2.1379705129416733e-10,-9.394766645045133e-12,1.0484555695024859e-06],"qvel":[-7.538359070034611e-06,-5.381858309385429e-05,0.00011101816509049153,-0.0002421175491896604,-2.2484496813852005e-07,-7.277780920070567e-06,-0.2483956589858733,0.00013357415570296681,-0.24738063913789476,0.23614538730411888,-0.24839566403650426,0.00013355506252460297,-0.24737723074708395,0.2361295265256599,1.4374511589268418e-11,3.2713076501323523e-10,4.161656044190192e-09,-1.637645885155147e-08,7.196353808117728e-10,4.91213014511238e-24],"joint_position_rad":[-2.0199142830950185,-1.6319486340319538,1.6972659668541359,-1.636082834404279,-1.5707963048579423,-0.44911806539584737],"joint_velocity_rad_s":[-7.538359070034611e-06,-5.381858309385429e-05,0.00011101816509049153,-0.0002421175491896604,-2.2484496813852005e-07,-7.277780920070567e-06],"linkage_position_rad":[0.02777244608215236,0.00014297091644241398,0.027925134905613748,-0.0270267093975806,0.02777244636179824,0.00014297203342180138,0.0279291479386709,-0.027033774456085048],"tcp_position_m":[0.08125760675606236,0.47722963119091444,0.305816307104888],"tcp_quaternion_wxyz":[5.07546521197661e-06,0.7071067425315158,0.7071068196736043,-1.4552945035589098e-05],"object_position_m":[0.08123550790508027,0.4777356025327301,0.2998922444699996],"object_quaternion_wxyz":[0.99999999999945,2.1379705129416733e-10,-9.394766645045133e-12,1.0484555695024859e-06],"object_linear_velocity_m_s":[1.4374511589268418e-11,3.2713076501323523e-10,4.161656044190192e-09],"object_angular_velocity_rad_s":[-1.63764603605269e-08,7.196010408312069e-10,3.382251091293137e-24],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09085083539874311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915836762498,-1.6411127856015688,1.6868411920965811,-1.6409556440059876,-1.570795124936502,-0.4491195063548856,0.0],"actuator_force":[-9.199133091897238e-05,-18.306775705992095,-20.89395678114579,-2.4121930459352825,0.0006124452170297445,7.298572853642327e-06,-0.29328800708564223],"issued_joint_targets_rad":[-2.0199158384639175,-1.6319571559508466,1.6972901029175127,-1.6361290876991428,-1.570796341799057,-0.4491195083441328],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.899999999999952,"joint_targets_rad":[-2.0199158384639175,-1.6319571559508466,1.6972901029175127,-1.6361290876991428,-1.570796341799057,-0.4491195083441328],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.919999999999941,"qpos":[-2.01991442684677,-1.631949636279363,1.6972680961219786,-1.6360874158433514,-1.5707963089501025,-0.44911820369483096,0.023290028397905508,0.00014538055783124763,0.02346122496293046,-0.022765901982526586,0.02329002858967921,0.00014538133676291027,0.023465300010816873,-0.022773254838414796,0.0812355079052786,0.47773560253724373,0.29989224452762037,0.99999999999945,1.0082131812240543e-10,-4.430347599709897e-12,1.0484555695024859e-06],"qvel":[-6.8676594635659285e-06,-4.6879825275240307e-05,0.00010232257993632993,-0.00021757728487602332,-1.936417114899032e-07,-6.589497278420542e-06,-0.20356959671989053,0.00010940179469693275,-0.20272119168644173,0.19348251590874077,-0.20356960080743508,0.00010938615484998068,-0.20271835690888124,0.19346938014035733,6.778691824798755e-12,1.5426663274532512e-10,1.9773902245854568e-09,-7.722725816074842e-09,3.3936359682417576e-10,1.079833161862606e-24],"joint_position_rad":[-2.01991442684677,-1.631949636279363,1.6972680961219786,-1.6360874158433514,-1.5707963089501025,-0.44911820369483096],"joint_velocity_rad_s":[-6.8676594635659285e-06,-4.6879825275240307e-05,0.00010232257993632993,-0.00021757728487602332,-1.936417114899032e-07,-6.589497278420542e-06],"linkage_position_rad":[0.023290028397905508,0.00014538055783124763,0.02346122496293046,-0.022765901982526586,0.02329002858967921,0.00014538133676291027,0.023465300010816873,-0.022773254838414796],"tcp_position_m":[0.08125786284547495,0.47723000610176775,0.30581618563901014],"tcp_quaternion_wxyz":[4.507453980302558e-06,0.7071067444770963,0.7071068177635623,-1.2921804497028459e-05],"object_position_m":[0.0812355079052786,0.47773560253724373,0.29989224452762037],"object_quaternion_wxyz":[0.99999999999945,1.0082131812240543e-10,-4.430347599709897e-12,1.0484555695024859e-06],"object_linear_velocity_m_s":[6.778691824798755e-12,1.5426663274532512e-10,1.9773902245854568e-09],"object_angular_velocity_rad_s":[-7.722726527673165e-09,3.393474029536422e-10,8.94737379519925e-25],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09126629650225569,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915838448015,-1.641112765666466,1.6868412309938923,-1.640955673628133,-1.5707951233839894,-0.4491195083776191,0.0],"actuator_force":[-7.613870502609643e-05,-18.307506844095315,-20.894659288147068,-2.412371163903117,0.0006121472276845452,6.608333762869734e-06,-0.29330686174260767],"issued_joint_targets_rad":[-2.0199158399853596,-1.6319571687925278,1.6972901256874116,-1.6361291156479971,-1.5707963403833662,-0.4491195101800783],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.919999999999941,"joint_targets_rad":[-2.0199158399853596,-1.6319571687925278,1.6972901256874116,-1.6361291156479971,-1.5707963403833662,-0.4491195101800783],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.93999999999993,"qpos":[-2.0199145577742326,-1.6319505102791365,1.6972700566255128,-1.6360915341284339,-1.5707963124662494,-0.44911832891449294,0.019616516433834177,0.00014735419616732442,0.019803152173740096,-0.01927478906070585,0.019616516554811385,0.00014735469927171368,0.019807278733646558,-0.019282380032232354,0.08123550790537211,0.4777356025393722,0.2998922445549985,0.99999999999945,4.7544803083058154e-11,-2.089243885044199e-12,1.0484555695024859e-06],"qvel":[-6.253563440859984e-06,-4.092298499841309e-05,9.412871182599922e-05,-0.00019563391763558347,-1.6630647516748505e-07,-5.966310487211341e-06,-0.16683311284210356,8.960931458683792e-05,-0.16612661896720948,0.15853406439102566,-0.1668331161428421,8.959655250037594e-05,-0.16612426717754086,0.15852320591955343,3.1966693333561813e-12,7.274826762016465e-11,9.395488367556487e-10,-3.6418433729944515e-09,1.6003559592883834e-10,1.3036586188489947e-26],"joint_position_rad":[-2.0199145577742326,-1.6319505102791365,1.6972700566255128,-1.6360915341284339,-1.5707963124662494,-0.44911832891449294],"joint_velocity_rad_s":[-6.253563440859984e-06,-4.092298499841309e-05,9.412871182599922e-05,-0.00019563391763558347,-1.6630647516748505e-07,-5.966310487211341e-06],"linkage_position_rad":[0.019616516433834177,0.00014735419616732442,0.019803152173740096,-0.01927478906070585,0.019616516554811385,0.00014735469927171368,0.019807278733646558,-0.019282380032232354],"tcp_position_m":[0.08125808981290691,0.47723033466894793,0.30581604109448324],"tcp_quaternion_wxyz":[4.008901911086558e-06,0.707106746508941,0.7071068157594317,-1.149024121947261e-05],"object_position_m":[0.08123550790537211,0.4777356025393722,0.2998922445549985],"object_quaternion_wxyz":[0.99999999999945,4.7544803083058154e-11,-2.089243885044199e-12,1.0484555695024859e-06],"object_linear_velocity_m_s":[3.1966693333561813e-12,7.274826762016465e-11,9.395488367556487e-10],"object_angular_velocity_rad_s":[-3.6418437085668663e-09,1.6002795930655105e-10,-2.695141112369791e-26],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09160572641387486,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915839973762,-1.6411127517505952,1.6868412624826505,-1.6409557030962902,-1.5707951219782226,-0.4491195102098571,0.0],"actuator_force":[-6.297368190644193e-05,-18.308113748918004,-20.895239770454737,-2.4125210921646385,0.0006118746609899972,5.983366662576373e-06,-0.29332050450754976],"issued_joint_targets_rad":[-2.0199158413635296,-1.631957180382263,1.6972901462472088,-1.6361291408662393,-1.5707963391014776,-0.4491195118429928],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.93999999999993,"joint_targets_rad":[-2.0199158413635296,-1.631957180382263,1.6972901462472088,-1.6361291408662393,-1.5707963391014776,-0.4491195118429928],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.95999999999992,"qpos":[-2.0199146769652487,-1.631951274082216,1.6972718584994058,-1.6360952380930482,-1.5707963154783087,-0.44911844229184794,0.016605930836582076,0.00014897082729063455,0.016805402926837763,-0.016414216769671183,0.01660593090068276,0.00014897110624001605,0.016809572178419184,-0.01642200441485216,0.08123550790541621,0.4777356025403759,0.2998922445681365,0.99999999999945,2.204591414489923e-11,-9.687570761252957e-13,1.0484555695024859e-06],"qvel":[-5.691789510791638e-06,-3.58002463922937e-05,8.644355430944321e-05,-0.00017599635348103146,-1.423901720939514e-07,-5.402063338672819e-06,-0.13672626222080939,7.340251337261278e-05,-0.136139704571542,0.12990296336166066,-0.13672626487968992,7.339213734144828e-05,-0.13613775743936993,0.12989400132218135,1.5052086691246927e-12,3.425485757174372e-11,4.6204031514321345e-10,-1.8078259521658766e-09,7.944241993478411e-11,2.8814231213946344e-23],"joint_position_rad":[-2.0199146769652487,-1.631951274082216,1.6972718584994058,-1.6360952380930482,-1.5707963154783087,-0.44911844229184794],"joint_velocity_rad_s":[-5.691789510791638e-06,-3.58002463922937e-05,8.644355430944321e-05,-0.00017599635348103146,-1.423901720939514e-07,-5.402063338672819e-06],"linkage_position_rad":[0.016605930836582076,0.00014897082729063455,0.016805402926837763,-0.016414216769671183,0.01660593090068276,0.00014897110624001605,0.016809572178419184,-0.01642200441485216],"tcp_position_m":[0.08125829126034433,0.47723062315810916,0.3058158817728225],"tcp_quaternion_wxyz":[3.57047973024464e-06,0.7071067485752043,0.7071068137148524,-1.0231457800241205e-05],"object_position_m":[0.08123550790541621,0.4777356025403759,0.2998922445681365],"object_quaternion_wxyz":[0.99999999999945,2.204591414489923e-11,-9.687570761252957e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[1.5052086691246927e-12,3.425485757174372e-11,4.6204031514321345e-10],"object_angular_velocity_rad_s":[-1.807826118745596e-09,7.943862908423292e-11,2.880366863615263e-23],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09188319001159763,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158413550555,-1.6411127419859335,1.6868412885207893,-1.640955731468743,-1.570795120705136,-0.449119511869512,0.0],"actuator_force":[-5.206380956224166e-05,-18.30861570887828,-20.89571737895676,-2.4126470524993238,0.0006116256035966217,5.41750185334422e-06,-0.2933304513607453],"issued_joint_targets_rad":[-2.0199158426118995,-1.631957190844569,1.6972901648153684,-1.6361291636266964,-1.5707963379406837,-0.4491195133491647],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.95999999999992,"joint_targets_rad":[-2.0199158426118995,-1.631957190844569,1.6972901648153684,-1.6361291636266964,-1.5707963379406837,-0.4491195133491647],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.979999999999908,"qpos":[-2.019914785424623,-1.6319519430244966,1.697273511917569,-1.6360985711172604,-1.5707963180498208,-0.4491185449469079,0.014138637301327701,0.00015029511789751594,0.014348753033011778,-0.014070224314122923,0.01413863731988057,0.00015029521540039793,0.01435295760186781,-0.014078174174495061,0.08123550790542983,0.4777356025406857,0.29989224457464486,0.99999999999945,4.1251475465449965e-12,-1.8131427186122887e-13,1.0484555695024859e-06],"qvel":[-5.17831208901685e-06,-3.1386292292716195e-05,7.926493584662661e-05,-0.00015840802812353997,-1.2149388595307684e-07,-4.891181040392703e-06,-0.11205259567071012,6.013084656883233e-05,-0.11156678945605825,0.10644580254235343,-0.11205259780673744,6.012244045871549e-05,-0.11156517999777625,0.10643841519984461,-1.666542992564496e-13,-3.79608453236403e-12,2.2227792880949404e-10,-2.1394132637312626e-09,9.400366118282763e-11,9.73869035506045e-22],"joint_position_rad":[-2.019914785424623,-1.6319519430244966,1.697273511917569,-1.6360985711172604,-1.5707963180498208,-0.4491185449469079],"joint_velocity_rad_s":[-5.17831208901685e-06,-3.1386292292716195e-05,7.926493584662661e-05,-0.00015840802812353997,-1.2149388595307684e-07,-4.891181040392703e-06],"linkage_position_rad":[0.014138637301327701,0.00015029511789751594,0.014348753033011778,-0.014070224314122923,0.01413863731988057,0.00015029521540039793,0.01435295760186781,-0.014078174174495061],"tcp_position_m":[0.08125847030606428,0.4772308769251854,0.30581571414818026],"tcp_quaternion_wxyz":[3.1842084233534864e-06,0.7071067506358367,0.7071068116712415,-9.12253221969958e-06],"object_position_m":[0.08123550790542983,0.4777356025406857,0.29989224457464486],"object_quaternion_wxyz":[0.99999999999945,4.1251475465449965e-12,-1.8131427186122887e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.666542992564496e-13,-3.79608453236403e-12,2.2227792880949404e-10],"object_angular_velocity_rad_s":[-2.139413460843882e-09,9.399917502311725e-11,9.73596122037789e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09211010228193271,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158426056942,-1.641112735102763,1.6868413104554822,-1.640955758227756,-1.5707951195520664,-0.4491195133728124,0.0],"actuator_force":[-4.303730702304165e-05,-18.3090296396158,-20.896108898512466,-2.4127527524354946,0.0006113982657325323,4.905151769207805e-06,-0.2933377636731758],"issued_joint_targets_rad":[-2.019915843742675,-1.631957200291211,1.6972901815880732,-1.6361291841739036,-1.5707963368895006,-0.44911951471335243],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.979999999999908,"joint_targets_rad":[-2.019915843742675,-1.631957200291211,1.6972901815880732,-1.6361291841739036,-1.5707963368895006,-0.44911951471335243],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":9.999999999999897,"qpos":[-2.019914884079128,-1.63195253014294,1.6972750269306438,-1.6361015717742295,-1.5707963202368789,-0.44911863789374956,0.012116591783981983,0.00015138000201608202,0.012335513853188368,-0.01214947199656855,0.012116591766191082,0.00015137995322652393,0.012339747595949116,-0.012157555495392035,0.08123550790542616,0.4777356025406018,0.2998922445775356,0.99999999999945,-6.177385972311579e-12,2.7136930208127945e-13,1.0484555695024859e-06],"qvel":[-4.709349972102727e-06,-2.7575121955279486e-05,7.25834590401137e-05,-0.00014264276336208075,-1.0326326464195782e-07,-4.428616146506395e-06,-0.09183159827101832,4.9261808209406194e-05,-0.09143002341867974,0.08722658143909622,-0.09183159998177605,4.9255022395000244e-05,-0.09142869482905822,0.08722049853937837,-1.2221268891444231e-12,-2.781889012895937e-11,9.882331144719882e-11,-2.229462030102423e-09,9.795582664069763e-11,1.8165489111845263e-21],"joint_position_rad":[-2.019914884079128,-1.63195253014294,1.6972750269306438,-1.6361015717742295,-1.5707963202368789,-0.44911863789374956],"joint_velocity_rad_s":[-4.709349972102727e-06,-2.7575121955279486e-05,7.25834590401137e-05,-0.00014264276336208075,-1.0326326464195782e-07,-4.428616146506395e-06],"linkage_position_rad":[0.012116591783981983,0.00015138000201608202,0.012335513853188368,-0.01214947199656855,0.012116591766191082,0.00015137995322652393,0.012339747595949116,-0.012157555495392035],"tcp_position_m":[0.08125862965310786,0.4772311005525454,0.3058155432053296],"tcp_quaternion_wxyz":[2.843257531967333e-06,0.7071067526604918,0.7071068096599887,-8.14383941218484e-06],"object_position_m":[0.08123550790542616,0.4777356025406018,0.2998922445775356],"object_quaternion_wxyz":[0.99999999999945,-6.177385972311579e-12,2.7136930208127945e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.2221268891444231e-12,-2.781889012895937e-11,9.882331144719882e-11],"object_angular_velocity_rad_s":[-2.2294622355021842e-09,9.79511516567173e-11,1.8163710575625286e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0922957426138677,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01991584373812,-1.6411127302327642,1.6868413292259288,-1.6409557831233188,-1.5707951185075997,-0.4491195147344657,0.0],"actuator_force":[-3.557799482223345e-05,-18.309370130865773,-20.896428793046198,-2.412841398208343,0.0006111909660830861,4.441256578502362e-06,-0.2933431862446813],"issued_joint_targets_rad":[-2.0199158447669157,-1.6319572088225482,1.6972901967416067,-1.6361292027272047,-1.5707963359375452,-0.44911951594892385],"issued_gripper_0_255":0.0,"command":{"t_seconds":9.999999999999897,"joint_targets_rad":[-2.0199158447669157,-1.6319572088225482,1.6972901967416067,-1.6361292027272047,-1.5707963359375452,-0.44911951594892385],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.019999999999886,"qpos":[-2.0199149737823157,-1.6319530465313863,1.6972764133400473,-1.6361042743982754,-1.5707963220889634,-0.4491187220505351,0.010459443947218601,0.00015226881156547238,0.010685639398719256,-0.010575502228616402,0.010459443900548274,0.00015226864531352693,0.010689897212361703,-0.010583695717828731,0.08123550790541166,0.4777356025402717,0.2998922445788046,0.99999999999945,-1.164829177984685e-11,5.117492815310622e-13,1.0484555695024859e-06],"qvel":[-4.281358404614613e-06,-2.4277194711768384e-05,6.638422155769513e-05,-0.00012850104517862153,-8.738359095982644e-08,-4.0097986472818265e-06,-0.07525971420155934,4.035964553724645e-05,-0.074928291878134,0.07147894721113514,-0.07525971556696488,4.035418807230773e-05,-0.07492719629926256,0.07147394277913634,-5.580408616751339e-13,-1.2702450757197292e-11,4.0413014015055606e-11,2.44473461900858e-10,-1.073990432107196e-11,1.9789319824418787e-22],"joint_position_rad":[-2.0199149737823157,-1.6319530465313863,1.6972764133400473,-1.6361042743982754,-1.5707963220889634,-0.4491187220505351],"joint_velocity_rad_s":[-4.281358404614613e-06,-2.4277194711768384e-05,6.638422155769513e-05,-0.00012850104517862153,-8.738359095982644e-08,-4.0097986472818265e-06],"linkage_position_rad":[0.010459443947218601,0.00015226881156547238,0.010685639398719256,-0.010575502228616402,0.010459443900548274,0.00015226864531352693,0.010689897212361703,-0.010583695717828731],"tcp_position_m":[0.08125877164818977,0.47723129796557895,0.30581537272380405],"tcp_quaternion_wxyz":[2.5417723306739254e-06,0.7071067546267258,0.7071068077043388,-7.278555614966379e-06],"object_position_m":[0.08123550790541166,0.4777356025402717,0.2998922445788046],"object_quaternion_wxyz":[0.99999999999945,-1.164829177984685e-11,5.117492815310622e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-5.580408616751339e-13,-1.2702450757197292e-11,4.0413014015055606e-11],"object_angular_velocity_rad_s":[2.4447348442094534e-10,-1.073939168192289e-11,1.9787205682578026e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09244766470311287,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158447635637,-1.6411127267783807,1.6868413454970743,-1.640955806072006,-1.570795117561435,-0.44911951596779626,0.0],"actuator_force":[-2.9419134079944342e-05,-18.309649616104252,-20.896689374569178,-2.4129157323474146,0.0006110021231506835,4.021234161655229e-06,-0.29334724354572267],"issued_joint_targets_rad":[-2.0199158456946438,-1.6319572165287413,1.697290210434468,-1.6361292194834827,-1.5707963350754262,-0.4491195170679908],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.019999999999886,"joint_targets_rad":[-2.0199158456946438,-1.6319572165287413,1.697290210434468,-1.6361292194834827,-1.5707963350754262,-0.4491195170679908],"gripper_0_255":0.0,"phase":"release"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.039999999999875,"qpos":[-2.0199150553191774,-1.6319535016428794,1.6972776806038627,-1.6361067095829271,-1.5707963236496807,-0.44911879824858514,0.009101343904640393,0.00015299702142023262,0.009333538060452205,-0.00928568082043171,0.009101343835132364,0.00015299676127082592,0.009337815716031277,-0.009293964765065674,0.08123550790538966,0.47773560253977077,0.29989224457935953,0.99999999999945,-1.5960774168698174e-11,7.012095290590005e-13,1.0484555695024859e-06],"qvel":[-3.891022335268371e-06,-2.1416921130408128e-05,6.0648291082215866e-05,-0.00011580672213644561,-7.357545895804961e-08,-3.6305908211551464e-06,-0.06167840749623825,3.306780679950828e-05,-0.061405234388232206,0.05857534822539143,-0.061678408581665185,3.3063435027212704e-05,-0.06140433170993463,0.05857123400988158,-8.429505515175587e-13,-1.918756813541235e-11,1.770916687940339e-11,3.539008146656366e-10,-1.5548310080615963e-11,3.6269946743772533e-22],"joint_position_rad":[-2.0199150553191774,-1.6319535016428794,1.6972776806038627,-1.6361067095829271,-1.5707963236496807,-0.44911879824858514],"joint_velocity_rad_s":[-3.891022335268371e-06,-2.1416921130408128e-05,6.0648291082215866e-05,-0.00011580672213644561,-7.357545895804961e-08,-3.6305908211551464e-06],"linkage_position_rad":[0.009101343904640393,0.00015299702142023262,0.009333538060452205,-0.00928568082043171,0.009101343835132364,0.00015299676127082592,0.009337815716031277,-0.009293964765065674],"tcp_position_m":[0.08125889833216245,0.47723147253197307,0.3058152055145307],"tcp_quaternion_wxyz":[2.27472659159249e-06,0.7071067565184668,0.7071068058209802,-6.512236055368976e-06],"object_position_m":[0.08123550790538966,0.47773560253977077,0.29989224457935953],"object_quaternion_wxyz":[0.99999999999945,-1.5960774168698174e-11,7.012095290590005e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-8.429505515175587e-13,-1.918756813541235e-11,1.770916687940339e-11],"object_angular_velocity_rad_s":[3.5390084726828287e-10,-1.5547567982021393e-11,3.62696484740994e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09257202458379371,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01991584569217,-1.6411127243257142,1.6868413597481702,-1.6409558270916085,-1.5707951167042686,-0.44911951708487835,0.0],"actuator_force":[-2.433705185467261e-05,-18.30987859721745,-20.89690102781833,-2.4129780821269833,0.0006108302519578501,3.640935517523758e-06,-0.2933503065991207],"issued_joint_targets_rad":[-2.01991584653494,-1.6319572234908246,1.6972902228092481,-1.6361292346195848,-1.570796334294648,-0.4491195180815266],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.039999999999875,"joint_targets_rad":[-2.01991584653494,-1.6319572234908246,1.6972902228092481,-1.6361292346195848,-1.570796334294648,-0.4491195180815266],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.059999999999864,"qpos":[-2.0199151294106854,-1.6319539035453887,1.6972788377696388,-1.6361089046171469,-1.570796324957428,-0.4491188672405927,0.007988325305177844,0.00015359367735920555,0.008225461137790482,-0.008228694088727092,0.007988325217712035,0.00015359334251329812,0.008229755137332258,-0.00823705237484477,0.08123550790536539,0.4777356025392182,0.2998922445795997,0.99999999999945,-1.8291453239112965e-11,8.03603119140532e-13,1.0484555695024859e-06],"qvel":[-3.5352495017954435e-06,-1.8930491925322745e-05,5.5353936997261644e-05,-0.00010440410077916477,-6.159093084343484e-08,-3.287246341194021e-06,-0.05054798824841166,2.7094530631415664e-05,-0.05032306248321802,0.04800182570251866,-0.05054798910727572,2.709104369033908e-05,-0.050322319228655626,0.04799844534948856,-1.048263404890271e-12,-2.3860940443329535e-11,7.778824220122228e-12,2.5774208069892036e-10,-1.1323626132655576e-11,6.545685561560568e-22],"joint_position_rad":[-2.0199151294106854,-1.6319539035453887,1.6972788377696388,-1.6361089046171469,-1.570796324957428,-0.4491188672405927],"joint_velocity_rad_s":[-3.5352495017954435e-06,-1.8930491925322745e-05,5.5353936997261644e-05,-0.00010440410077916477,-6.159093084343484e-08,-3.287246341194021e-06],"linkage_position_rad":[0.007988325305177844,0.00015359367735920555,0.008225461137790482,-0.008228694088727092,0.007988325217712035,0.00015359334251329812,0.008229755137332258,-0.00823705237484477],"tcp_position_m":[0.08125901148314019,0.47723162714593437,0.30581504361538636],"tcp_quaternion_wxyz":[2.0377976449996244e-06,0.7071067583247375,0.7071068040213664,-5.832456531789694e-06],"object_position_m":[0.08123550790536539,0.4777356025392182,0.2998922445795997],"object_quaternion_wxyz":[0.99999999999945,-1.8291453239112965e-11,8.03603119140532e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.048263404890271e-12,-2.3860940443329535e-11,7.778824220122228e-12],"object_angular_velocity_rad_s":[2.577421044429913e-10,-1.1323085670390665e-11,6.545651270734886e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09267384408943713,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199158465331095,-1.641112722586144,1.6868413723316757,-1.6409558462590657,-1.5707951159276923,-0.44911951809665324,0.0],"actuator_force":[-2.0145047528785653e-05,-18.310065884740197,-20.897072450724863,-2.413030410881561,0.0006106739609776923,3.2966038645554363e-06,-0.2933526393660571],"issued_joint_targets_rad":[-2.019928371137551,-1.634895142490291,1.6541455204353903,-1.5902513741939424,-1.5707826167432846,-0.44913201405201264],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.059999999999864,"joint_targets_rad":[-2.019928371137551,-1.634895142490291,1.6541455204353903,-1.5902513741939424,-1.5707826167432846,-0.44913201405201264],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.079999999999853,"qpos":[-2.0199161797677774,-1.6320063131403078,1.696025928784147,-1.6346027930807565,-1.5707952837272927,-0.44912006824229095,0.007091588781636208,0.00015832707795226982,0.00733244577710239,-0.007386678937999528,0.0070898745270907984,0.00015312775185189232,0.007308780821940483,-0.007399604586824667,0.08123550790534047,0.4777356025386507,0.2998922445797039,0.99999999999945,-1.9276945484701e-11,8.469044412243326e-13,1.0484555695024859e-06],"qvel":[0.0001743954366708217,-0.0025387020309648786,-0.12891887033023508,0.1432901436161191,6.503630236225304e-05,-6.048037857178723e-05,-0.040637585832514485,0.00010891352497136527,-0.04060666407204528,0.038223541283381,-0.04067409086269454,4.257406374856577e-05,-0.040943065241537235,0.03823501608808862,-1.2453904208278059e-12,-2.834772948372659e-11,3.4242144917591245e-12,-2.4384753005268906e-11,1.0719317712175778e-12,1.2045412407546182e-21],"joint_position_rad":[-2.0199161797677774,-1.6320063131403078,1.696025928784147,-1.6346027930807565,-1.5707952837272927,-0.44912006824229095],"joint_velocity_rad_s":[0.0001743954366708217,-0.0025387020309648786,-0.12891887033023508,0.1432901436161191,6.503630236225304e-05,-6.048037857178723e-05],"linkage_position_rad":[0.007091588781636208,0.00015832707795226982,0.00733244577710239,-0.007386678937999528,0.0070898745270907984,0.00015312775185189232,0.007308780821940483,-0.007399604586824667],"tcp_position_m":[0.08124167633501027,0.4771951479458016,0.3063042233075587],"tcp_quaternion_wxyz":[3.467476908745407e-05,0.7071067011008035,0.7071068532406574,-0.00010077745057780494],"object_position_m":[0.08123550790534047,0.4777356025386507,0.2998922445797039],"object_quaternion_wxyz":[0.99999999999945,-1.9276945484701e-11,8.469044412243326e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.2453904208278059e-12,-2.834772948372659e-11,3.4242144917591245e-12],"object_angular_velocity_rad_s":[-2.438475525296095e-11,1.0718806385550217e-12,1.204518198942227e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0927589069545593,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199268492289013,-1.644055849045708,1.656841289247267,-1.6109533603331965,-1.5707813942006101,-0.44913201501729483,0.0],"actuator_force":[-0.09109709691665557,-23.083590998414365,-26.801730941665937,-2.504297987831933,0.00044113310514148907,7.465035523068764e-05,-0.30251478196030523],"issued_joint_targets_rad":[-2.0199287222665974,-1.6349959438880644,1.652992251204203,-1.588996336880007,-1.5707826679848254,-0.44913236681187174],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.079999999999853,"joint_targets_rad":[-2.0199287222665974,-1.6349959438880644,1.652992251204203,-1.588996336880007,-1.5707826679848254,-0.44913236681187174],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.099999999999842,"qpos":[-2.019923054174375,-1.632126694717787,1.6923643703660944,-1.6306545405156252,-1.5707933170477402,-0.44912125168405603,0.006350963042998415,0.0001565712400848993,0.006594185588726805,-0.006680401632403434,0.0063501410129382175,0.0001548397392484906,0.006588170567515963,-0.006690744828980698,0.08123550790531588,0.4777356025380908,0.299892244579749,0.99999999999945,-1.9064264475472605e-11,8.37555181352926e-13,1.0484555695024859e-06],"qvel":[-0.0007566236780059291,-0.012528460171738066,-0.19821567115361194,0.21054106367629227,1.8925106294432504e-05,-5.5699776601398135e-05,-0.034193960666174486,-0.000284314716455049,-0.03407493380492754,0.033129462106738936,-0.03405942230172341,9.629349935664914e-05,-0.03208675297195933,0.03337096890040276,-1.5004736967304395e-12,-3.415462046794423e-11,1.5129877593274103e-12,-5.12184478087816e-10,2.2500924321922086e-11,2.1610965492067657e-21],"joint_position_rad":[-2.019923054174375,-1.632126694717787,1.6923643703660944,-1.6306545405156252,-1.5707933170477402,-0.44912125168405603],"joint_velocity_rad_s":[-0.0007566236780059291,-0.012528460171738066,-0.19821567115361194,0.21054106367629227,1.8925106294432504e-05,-5.5699776601398135e-05],"linkage_position_rad":[0.006350963042998415,0.0001565712400848993,0.006594185588726805,-0.006680401632403434,0.0063501410129382175,0.0001548397392484906,0.006588170567515963,-0.006690744828980698],"tcp_position_m":[0.08124382358858827,0.4771933970343305,0.30776413117913365],"tcp_quaternion_wxyz":[6.118536526841633e-05,0.7071087046084797,0.707104832303396,-0.00017960081823260315],"object_position_m":[0.08123550790531588,0.4777356025380908,0.299892244579749],"object_quaternion_wxyz":[0.99999999999945,-1.9064264475472605e-11,8.37555181352926e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.5004736967304395e-12,-3.415462046794423e-11,1.5129877593274103e-12],"object_angular_velocity_rad_s":[-5.121845252691284e-10,2.2499850316535273e-11,2.1611554462770146e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09282500818690158,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019924362284322,-1.6441669040365552,1.6425422748506502,-1.5938163318310974,-1.5707814391028383,-0.4491323694183401,0.0],"actuator_force":[0.30003325130837766,-19.069034568840834,-20.357922569443872,-2.6350020253652247,0.004046461821531011,1.11105181019866e-05,-0.2937882879573421],"issued_joint_targets_rad":[-2.0199337043179897,-1.6350517440234837,1.6493230227580806,-1.5852708022292643,-1.5707826417845103,-0.44913733927384153],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.099999999999842,"joint_targets_rad":[-2.0199337043179897,-1.6350517440234837,1.6493230227580806,-1.5852708022292643,-1.5707826417845103,-0.44913733927384153],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.11999999999983,"qpos":[-2.0199279030104336,-1.6323937337177072,1.688274754406842,-1.626331906774518,-1.5707927662649441,-0.44912276608385204,0.005734256361242841,0.00015455666611198784,0.0059807350300601185,-0.0060882248558804235,0.005734432395256957,0.00015510510792648112,0.0059874936173221925,-0.00609670738960273,0.0812355079052924,0.4777356025375564,0.2998922445797687,0.99999999999945,-1.7476683336441816e-11,7.677991281569696e-13,1.0484555695024859e-06],"qvel":[-0.0001366380077012676,-0.014808408642115474,-0.19775095885880423,0.20654398092220752,3.387541083140934e-05,-7.34420975131585e-05,-0.028131116019893414,-5.0214166128185404e-05,-0.027944571781972093,0.02691305229497989,-0.02810643807954945,4.6532073905788036e-06,-0.027616957450369226,0.026978135608368925,-1.8953133978503517e-12,-4.314307057549219e-11,6.702604824766578e-13,-1.2587364978444116e-09,5.529809374500888e-11,3.9409607273071505e-21],"joint_position_rad":[-2.0199279030104336,-1.6323937337177072,1.688274754406842,-1.626331906774518,-1.5707927662649441,-0.44912276608385204],"joint_velocity_rad_s":[-0.0001366380077012676,-0.014808408642115474,-0.19775095885880423,0.20654398092220752,3.387541083140934e-05,-7.34420975131585e-05],"linkage_position_rad":[0.005734256361242841,0.00015455666611198784,0.0059807350300601185,-0.0060882248558804235,0.005734432395256957,0.00015510510792648112,0.0059874936173221925,-0.00609670738960273],"tcp_position_m":[0.08124363338339866,0.47718813232083884,0.30946548869300866],"tcp_quaternion_wxyz":[5.531184897761594e-05,0.7071098857005562,0.7071036555619379,-0.00016363401039059362],"object_position_m":[0.0812355079052924,0.4777356025375564,0.2998922445797687],"object_quaternion_wxyz":[0.99999999999945,-1.7476683336441816e-11,7.677991281569696e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.8953133978503517e-12,-4.314307057549219e-11,6.702604824766578e-13],"object_angular_velocity_rad_s":[-1.258736613796832e-09,5.529545428630387e-11,3.941065969587087e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09287969221923215,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199292373999422,-1.644219851759694,1.6388707490825256,-1.590090705394603,-1.5707814116417824,-0.4491373419030454,0.0],"actuator_force":[0.051986424063215964,-17.728872627127203,-19.707627105110987,-2.5337974022631897,0.002289770497668542,5.6300154653854406e-05,-0.2922466673277756],"issued_joint_targets_rad":[-2.0199377165336805,-1.6351113324551647,1.645042413852891,-1.5809313185861167,-1.5707825008511425,-0.4491413455899236],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.11999999999983,"joint_targets_rad":[-2.0199377165336805,-1.6351113324551647,1.645042413852891,-1.5809313185861167,-1.5707825008511425,-0.4491413455899236],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.13999999999982,"qpos":[-2.0199280060471887,-1.6326565774554116,1.6841688272339992,-1.6220192127818045,-1.5707917945936338,-0.4491245284112823,0.005228769521873252,0.00015473681818501599,0.005477823900631502,-0.005608071305865981,0.0052289185779403596,0.0001552992997731955,0.005485160973938421,-0.005616023485207941,0.08123550790526815,0.47773560253700526,0.2998922445797773,0.99999999999945,-1.6641447528366798e-11,7.310940379164232e-13,1.0484555695024859e-06],"qvel":[-0.00011722426558684012,-0.01392601267626774,-0.19869762107748104,0.20664186551223188,3.687582088167803e-05,-8.483923022692824e-05,-0.023078177917335477,-3.135024803236602e-05,-0.022937689524334042,0.022033387902597113,-0.02305700705548875,1.698089994367759e-05,-0.0226916926131294,0.02205115157738824,-8.958663369587256e-13,-2.0392506634216093e-11,2.7118387738124157e-13,6.514912241273568e-10,-2.8622640921634876e-11,4.283221166149931e-22],"joint_position_rad":[-2.0199280060471887,-1.6326565774554116,1.6841688272339992,-1.6220192127818045,-1.5707917945936338,-0.4491245284112823],"joint_velocity_rad_s":[-0.00011722426558684012,-0.01392601267626774,-0.19869762107748104,0.20664186551223188,3.687582088167803e-05,-8.483923022692824e-05],"linkage_position_rad":[0.005228769521873252,0.00015473681818501599,0.005477823900631502,-0.005608071305865981,0.0052289185779403596,0.0001552992997731955,0.005485160973938421,-0.005616023485207941],"tcp_position_m":[0.0812411856037752,0.4771835158568417,0.3111742890667447],"tcp_quaternion_wxyz":[4.560126715084245e-05,0.7071093022152238,0.7071042453434376,-0.00013732629203412473],"object_position_m":[0.08123550790526815,0.47773560253700526,0.2998922445797773],"object_quaternion_wxyz":[0.99999999999945,-1.6641447528366798e-11,7.310940379164232e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-8.958663369587256e-13,-2.0392506634216093e-11,2.7118387738124157e-13],"object_angular_velocity_rad_s":[6.514912841450586e-10,-2.8621274802367093e-11,4.283409931468729e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.092925696121368,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019933244330558,-1.6442761215935142,1.63458791348236,-1.585751368629907,-1.570781267532589,-0.4491413481534194,0.0],"actuator_force":[0.03641313949628966,-17.668683205698017,-19.68277907228594,-2.5302644752744072,0.0015759484341515417,7.405195415799426e-05,-0.2922084801265594],"issued_joint_targets_rad":[-2.0199374751986507,-1.6351533161883405,1.64072672159873,-1.576574491116423,-1.5707823411235957,-0.44914110861877443],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.13999999999982,"joint_targets_rad":[-2.0199374751986507,-1.6351533161883405,1.64072672159873,-1.576574491116423,-1.5707823411235957,-0.44914110861877443],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.159999999999808,"qpos":[-2.019927894874666,-1.632899063373352,1.6800429648921713,-1.6177026828946124,-1.5707908772646821,-0.44912611912403616,0.004814478557240086,0.0001549588824570766,0.0050654450945442206,-0.005214745774738216,0.004814622313975252,0.00015552439992667767,0.005072836808978347,-0.005222694211403801,0.08123550790524045,0.47773560253637426,0.29989224457978103,0.99999999999945,-1.8589187864065504e-11,8.166518450155476e-13,1.0484555695024859e-06],"qvel":[-0.00011830235056377422,-0.012912706571231017,-0.19965648153546667,0.2068429323064242,3.341752385993383e-05,-7.561062858093793e-05,-0.018936150966553742,-3.392749850375602e-05,-0.018818498377640533,0.018105416427350345,-0.018913959686635142,1.4954022718463178e-05,-0.01857638149053383,0.018116385592356697,-1.0100502251057473e-12,-2.2991983700245463e-11,1.1681152914345594e-13,5.826993603276749e-10,-2.5599648699778792e-11,7.8258899543440315e-22],"joint_position_rad":[-2.019927894874666,-1.632899063373352,1.6800429648921713,-1.6177026828946124,-1.5707908772646821,-0.44912611912403616],"joint_velocity_rad_s":[-0.00011830235056377422,-0.012912706571231017,-0.19965648153546667,0.2068429323064242,3.341752385993383e-05,-7.561062858093793e-05],"linkage_position_rad":[0.004814478557240086,0.0001549588824570766,0.0050654450945442206,-0.005214745774738216,0.004814622313975252,0.00015552439992667767,0.005072836808978347,-0.005222694211403801],"tcp_position_m":[0.08123867757015085,0.47717897184270885,0.3128833921383124],"tcp_quaternion_wxyz":[3.66189962670225e-05,0.7071087029193357,0.7071048494681345,-0.00011301959973822733],"object_position_m":[0.08123550790524045,0.47773560253637426,0.29989224457978103],"object_quaternion_wxyz":[0.99999999999945,-1.8589187864065504e-11,8.166518450155476e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.0100502251057473e-12,-2.2991983700245463e-11,1.1681152914345594e-13],"object_angular_velocity_rad_s":[5.826994140065819e-10,-2.559842683094313e-11,7.825945805146788e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09296348073867788,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019933003948181,-1.6443150113805631,1.6302701715291479,-1.5813946829461045,-1.5707811047582565,-0.4491411111182005,0.0],"actuator_force":[0.0371027931955723,-17.666813385930254,-19.682994111860353,-2.530293256388518,0.001544500826867079,6.506577591380847e-05,-0.2922044902948224],"issued_joint_targets_rad":[-2.0199370754618102,-1.6351775214248134,1.636393868348293,-1.5722182641972353,-1.5707821832149367,-0.44914071327408056],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.159999999999808,"joint_targets_rad":[-2.0199370754618102,-1.6351775214248134,1.636393868348293,-1.5722182641972353,-1.5707821832149367,-0.44914071327408056],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.179999999999797,"qpos":[-2.0199277625096066,-1.6331207071057428,1.6758974927023753,-1.6133823456950667,-1.5707900312256742,-0.449127520216106,0.004474944402851127,0.00015513920373492484,0.004727451956471562,-0.004892373116904695,0.004475088532841161,0.0001557075912666612,0.004734863062132652,-0.004900343115281502,0.08123550790521285,0.47773560253574604,0.2998922445797826,0.99999999999945,-1.9902709634356363e-11,8.743196385926367e-13,1.0484555695024859e-06],"qvel":[-0.000120670163837071,-0.011907404181781161,-0.2005995172818909,0.20702364163913553,2.999280268119279e-05,-6.653701514761201e-05,-0.015540848342314416,-3.56983933069551e-05,-0.015437856131322663,0.014881782274511047,-0.015518616077446782,1.3247622282404519e-05,-0.01519588827682278,0.01489311553199194,-1.1326236217344432e-12,-2.578326247957038e-11,5.092118041073368e-14,4.1567502759108105e-10,-1.8262920284084812e-11,1.4264003216174807e-21],"joint_position_rad":[-2.0199277625096066,-1.6331207071057428,1.6758974927023753,-1.6133823456950667,-1.5707900312256742,-0.449127520216106],"joint_velocity_rad_s":[-0.000120670163837071,-0.011907404181781161,-0.2005995172818909,0.20702364163913553,2.999280268119279e-05,-6.653701514761201e-05],"linkage_position_rad":[0.004474944402851127,0.00015513920373492484,0.004727451956471562,-0.004892373116904695,0.004475088532841161,0.0001557075912666612,0.004734863062132652,-0.004900343115281502],"tcp_position_m":[0.08123620195060599,0.4771744757792757,0.3145923889189264],"tcp_quaternion_wxyz":[2.8501878498417746e-05,0.7071081625151729,0.7071053934149585,-9.107982521969283e-05],"object_position_m":[0.08123550790521285,0.47773560253574604,0.2998922445797826],"object_quaternion_wxyz":[0.99999999999945,-1.9902709634356363e-11,8.743196385926367e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.1326236217344432e-12,-2.578326247957038e-11,5.092118041073368e-14],"object_angular_velocity_rad_s":[4.1567506588588784e-10,-1.8262048650449087e-11,1.426480459452656e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09299444353746429,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019932605660978,-1.6443363792166492,1.6259354506065815,-1.5770385812080312,-1.5707809440390006,-0.44914071571535663,0.0],"actuator_force":[0.03858176279163672,-17.668382549100443,-19.68427727883136,-2.5304819203958004,0.001544313068734482,5.595188943630092e-05,-0.2922043246858084],"issued_joint_targets_rad":[-2.0199366899205913,-1.6351839645789152,1.6320448273317427,-1.567863590141067,-1.570782027780336,-0.4491403317079416],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.179999999999797,"joint_targets_rad":[-2.0199366899205913,-1.6351839645789152,1.6320448273317427,-1.567863590141067,-1.570782027780336,-0.4491403317079416],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.199999999999786,"qpos":[-2.019927621250287,-1.633321768779976,1.6717327402514521,-1.6090586943056033,-1.5707892510817094,-0.4491287503693523,0.004196681655165349,0.00015528747014839474,0.004450453317020634,-0.004628181214714591,0.004196826096321036,0.00015585821367114592,0.004457879380729851,-0.004636167192515457,0.08123550790518573,0.4777356025351283,0.2998922445797833,0.99999999999945,-2.05206622114976e-11,9.014464910098213e-13,1.0484555695024859e-06],"qvel":[-0.00012318478800118961,-0.01091614025905374,-0.20152675776978962,0.2071798593197602,2.6871484758630834e-05,-5.8396260940812545e-05,-0.012758207144903989,-3.718798250229624e-05,-0.012666830042329416,0.012239943797197405,-0.012735950689616854,1.1885989587750866e-05,-0.01242457550831373,0.01225142581737803,-1.2837206542055424e-12,-2.922347597876685e-11,2.018188041642465e-14,1.1602545970610494e-10,-5.09799229024985e-12,2.5991959335931112e-21],"joint_position_rad":[-2.019927621250287,-1.633321768779976,1.6717327402514521,-1.6090586943056033,-1.5707892510817094,-0.4491287503693523],"joint_velocity_rad_s":[-0.00012318478800118961,-0.01091614025905374,-0.20152675776978962,0.2071798593197602,2.6871484758630834e-05,-5.8396260940812545e-05],"linkage_position_rad":[0.004196681655165349,0.00015528747014839474,0.004450453317020634,-0.004628181214714591,0.004196826096321036,0.00015585821367114592,0.004457879380729851,-0.004636167192515457],"tcp_position_m":[0.08123376404787411,0.4771700286716743,0.31630126044023016],"tcp_quaternion_wxyz":[2.1177457626152048e-05,0.707107678885777,0.7071058795735382,-7.13078957519086e-05],"object_position_m":[0.08123550790518573,0.4777356025351283,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.05206622114976e-11,9.014464910098213e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.2837206542055424e-12,-2.922347597876685e-11,2.018188041642465e-14],"object_angular_velocity_rad_s":[1.160254703958866e-10,-5.097748995159773e-12,2.599237799830815e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09301981287631457,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199322217539484,-1.6443402376912155,1.6215847236721221,-1.5726840166877403,-1.5707807860142822,-0.4491403340966301,0.0],"actuator_force":[0.04007290787740203,-17.670481718857445,-19.68533005074414,-2.5306471230445595,0.0015453852378186639,4.7762455182009944e-05,-0.29220459840171503],"issued_joint_targets_rad":[-2.0199363267121844,-1.635172665334617,1.6276795818924352,-1.5635104350820945,-1.5707818745372517,-0.44913997207061873],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.199999999999786,"joint_targets_rad":[-2.0199363267121844,-1.635172665334617,1.6276795818924352,-1.5635104350820945,-1.5707818745372517,-0.44913997207061873],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.219999999999775,"qpos":[-2.01992747329331,-1.6335025218205466,1.6675490025117896,-1.6047321921402566,-1.5707885307924752,-0.4491298280324528,0.0039686335649000625,0.00015540889892616145,0.004223443373517555,-0.0044116678650553635,0.003968778303166125,0.00015598197034574296,0.00423088314405074,-0.004419666704722653,0.08123550790515942,0.4777356025345291,0.2998922445797833,0.99999999999945,-2.0275707672898966e-11,8.90670035524791e-13,1.0484555695024859e-06],"qvel":[-0.00012578011494145228,-0.009937993533576333,-0.2024399409927324,0.20731400541522702,2.4040609173647168e-05,-5.11364918291182e-05,-0.010477717646760946,-3.842296584463038e-05,-0.010395707856644898,0.010075003176779179,-0.010455433559837071,1.0783706747044583e-05,-0.010153117892616179,0.010086587074192412,-1.503122812824852e-12,-3.421901622303799e-11,1.3995162611700967e-14,-3.594457359298832e-10,1.578807197120082e-11,4.774914105334506e-21],"joint_position_rad":[-2.01992747329331,-1.6335025218205466,1.6675490025117896,-1.6047321921402566,-1.5707885307924752,-0.4491298280324528],"joint_velocity_rad_s":[-0.00012578011494145228,-0.009937993533576333,-0.2024399409927324,0.20731400541522702,2.4040609173647168e-05,-5.11364918291182e-05],"linkage_position_rad":[0.0039686335649000625,0.00015540889892616145,0.004223443373517555,-0.0044116678650553635,0.003968778303166125,0.00015598197034574296,0.00423088314405074,-0.004419666704722653],"tcp_position_m":[0.0812313643244796,0.47716563268486734,0.31801000740511876],"tcp_quaternion_wxyz":[1.4569972797362055e-05,0.7071072464000783,0.7071063137989686,-5.349625210332327e-05],"object_position_m":[0.08123550790515942,0.4777356025345291,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0275707672898966e-11,8.90670035524791e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.503122812824852e-12,-3.421901622303799e-11,1.3995162611700967e-14],"object_angular_velocity_rad_s":[-3.594457690352767e-10,1.578731824539856e-11,4.7749958459108085e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09304059966459749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019931860327196,-1.6443266013344766,1.6172179735572894,-1.5683309569696793,-1.5707806303813232,-0.4491399744117561,0.0],"actuator_force":[0.04153797820481486,-17.672961614429823,-19.686081511908014,-2.530782956234134,0.0015461446586186867,4.0459531277292626e-05,-0.2922048373703192],"issued_joint_targets_rad":[-2.0199359850589826,-1.6351436421127121,1.6232980635104457,-1.5591587146683346,-1.5707817231869114,-0.4491396336194744],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.219999999999775,"joint_targets_rad":[-2.0199359850589826,-1.6351436421127121,1.6232980635104457,-1.5591587146683346,-1.5707817231869114,-0.4491396336194744],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.239999999999764,"qpos":[-2.0199273201636365,-1.6336632167991307,1.6633465396474747,-1.6004032511469544,-1.5707878648084093,-0.4491307698565744,0.003781738476506959,0.0001555082835531452,0.004037401025218106,-0.004234227817863174,0.0037818835048805876,0.0001560836469370752,0.00404485355716656,-0.004242236905292754,0.0812355079051344,0.47773560253395936,0.2998922445797833,0.99999999999945,-1.8855915428213884e-11,8.282882219318797e-13,1.0484555695024859e-06],"qvel":[-0.00012844563918896877,-0.008971793114364602,-0.20334072984023868,0.20742858335746847,2.1474508328632393e-05,-4.4669858927464474e-05,-0.008608762002811781,-3.943917659025404e-05,-0.008534280671840267,0.008300835274847804,-0.008586449210525041,9.902586600035237e-06,-0.008291334573350488,0.008312491995134907,-1.8559344340041375e-12,-4.225186862236791e-11,1.2940450738307073e-14,-1.0728448846791912e-09,4.712458105945956e-11,8.668334296250359e-21],"joint_position_rad":[-2.0199273201636365,-1.6336632167991307,1.6633465396474747,-1.6004032511469544,-1.5707878648084093,-0.4491307698565744],"joint_velocity_rad_s":[-0.00012844563918896877,-0.008971793114364602,-0.20334072984023868,0.20742858335746847,2.1474508328632393e-05,-4.4669858927464474e-05],"linkage_position_rad":[0.003781738476506959,0.0001555082835531452,0.004037401025218106,-0.004234227817863174,0.0037818835048805876,0.0001560836469370752,0.00404485355716656,-0.004242236905292754],"tcp_position_m":[0.08122900305254446,0.4771612900192418,0.3197186313270882],"tcp_quaternion_wxyz":[8.610415546296768e-06,0.7071068598020819,0.7071067015265474,-3.7455902150149404e-05],"object_position_m":[0.0812355079051344,0.47773560253395936,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8855915428213884e-11,8.282882219318797e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.8559344340041375e-12,-4.225186862236791e-11,1.2940450738307073e-14],"object_angular_velocity_rad_s":[-1.0728449834928905e-09,4.7122331398966815e-11,8.668472131289491e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093057632182037,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019931520582383,-1.6442954838097066,1.6128351312458373,-1.5639793190424092,-1.5707804768226603,-0.4491396359176129,0.0],"actuator_force":[0.04297741818209033,-17.67581677540602,-19.686524867178832,-2.530892283474259,0.0015465420416376219,3.3955373510252684e-05,-0.29220504300269323],"issued_joint_targets_rad":[-2.01993566382082,-1.6350969116676033,1.618900199368946,-1.5548083416966465,-1.5707815734586497,-0.4491393152478294],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.239999999999764,"joint_targets_rad":[-2.01993566382082,-1.6350969116676033,1.618900199368946,-1.5548083416966465,-1.5707815734586497,-0.4491393152478294],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.259999999999753,"qpos":[-2.019927163215559,-1.633804081678837,1.659125580025541,-1.5960722354573258,-1.5707872480825071,-0.44913159079243664,0.003628569992568329,0.0001555896052542452,0.0038849331250469456,-0.00408880927860496,0.00362871530327204,0.0001561672266503911,0.0038923976197346942,-0.0040968264674794705,0.08123550790510999,0.4777356025334041,0.2998922445797833,0.99999999999945,-1.7041878457494515e-11,7.485911148514475e-13,1.0484555695024859e-06],"qvel":[-0.00013117443129092714,-0.008016456807902077,-0.20423064057242474,0.20752587372769501,1.9149105766678943e-05,-3.891525647261491e-05,-0.007077075565700132,-4.027623401538296e-05,-0.007008611905093446,0.006846909054029504,-0.00705473300749751,9.203341341593056e-06,-0.006765291846646909,0.006858612294581277,-9.1645428414494e-13,-2.0863766803795702e-11,1.275310060290158e-14,7.000852608714306e-10,-3.075343367495249e-11,9.39223064776992e-22],"joint_position_rad":[-2.019927163215559,-1.633804081678837,1.659125580025541,-1.5960722354573258,-1.5707872480825071,-0.44913159079243664],"joint_velocity_rad_s":[-0.00013117443129092714,-0.008016456807902077,-0.20423064057242474,0.20752587372769501,1.9149105766678943e-05,-3.891525647261491e-05],"linkage_position_rad":[0.003628569992568329,0.0001555896052542452,0.0038849331250469456,-0.00408880927860496,0.00362871530327204,0.0001561672266503911,0.0038923976197346942,-0.0040968264674794705],"tcp_position_m":[0.08122668055256878,0.47715700286237267,0.3214271335568883],"tcp_quaternion_wxyz":[3.236389246969259e-06,0.7071065143579718,0.7071070476330352,-2.3016002416892632e-05],"object_position_m":[0.08123550790510999,0.4777356025334041,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7041878457494515e-11,7.485911148514475e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.1645428414494e-13,-2.0863766803795702e-11,1.275310060290158e-14],"object_angular_velocity_rad_s":[7.000853253571085e-10,-3.0751965658303083e-11,9.392353445669699e-22],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09307158883174625,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199312013610813,-1.6442468975574667,1.6084361234521685,-1.559629016914878,-1.5707803250506576,-0.44913931750708463,0.0],"actuator_force":[0.044393481471615814,-17.67904903409817,-19.6866569177746,-2.5309781015456565,0.0015466053480395203,2.816832326857366e-05,-0.2922052219260302],"issued_joint_targets_rad":[-2.0199353619276104,-1.6350324891048533,1.6144859148152348,-1.5504592285608512,-1.570781425108786,-0.4491390159164978],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.259999999999753,"joint_targets_rad":[-2.0199353619276104,-1.6350324891048533,1.6144859148152348,-1.5504592285608512,-1.570781425108786,-0.4491390159164978],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.279999999999742,"qpos":[-2.019927003670658,-1.6339253237604372,1.6548863230793933,-1.5917394658859407,-1.570786676027771,-0.4491323042577356,0.0035030418712164247,0.00015565612483430698,0.0037599807433910627,-0.003969633224432465,0.00350318745689803,0.00015623597476713806,0.003767456521955047,-0.00397765676593698,0.08123550790508285,0.4777356025327866,0.2998922445797833,0.99999999999945,-1.814064952354308e-11,7.968547958362734e-13,1.0484555695024859e-06],"qvel":[-0.00013396030325134287,-0.007070999222708297,-0.20511105285306885,0.20760794026687898,1.7042469493641176e-05,-3.37996625815725e-05,-0.0058217953796228655,-4.096658894681764e-05,-0.005758107118851094,0.005655425299605121,-0.005799422107229655,8.653330161790604e-06,-0.005514397257488912,0.005667153708176869,-9.902853686735748e-13,-2.2544675825897705e-11,1.2730896142409073e-14,5.984173463218004e-10,-2.6286975928603114e-11,1.7136495047526935e-21],"joint_position_rad":[-2.019927003670658,-1.6339253237604372,1.6548863230793933,-1.5917394658859407,-1.570786676027771,-0.4491323042577356],"joint_velocity_rad_s":[-0.00013396030325134287,-0.007070999222708297,-0.20511105285306885,0.20760794026687898,1.7042469493641176e-05,-3.37996625815725e-05],"linkage_position_rad":[0.0035030418712164247,0.00015565612483430698,0.0037599807433910627,-0.003969633224432465,0.00350318745689803,0.00015623597476713806,0.003767456521955047,-0.00397765676593698],"tcp_position_m":[0.08122439720391528,0.47715277339517487,0.32313551525416906],"tcp_quaternion_wxyz":[-1.608502309812124e-06,0.7071062058139418,0.7071073564858311,-1.0022174520003383e-05],"object_position_m":[0.08123550790508285,0.4777356025327866,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.814064952354308e-11,7.968547958362734e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.902853686735748e-13,-2.2544675825897705e-11,1.2730896142409073e-14],"object_angular_velocity_rad_s":[5.98417401441937e-10,-2.6285721100546025e-11,1.7136488674868703e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09308302529456888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019930901576537,-1.6441808537762006,1.6040208750819362,-1.5552799640752797,-1.5707801748062369,-0.4491390181405916,0.0],"actuator_force":[0.04578830954233126,-17.682660342443796,-19.686474853686377,-2.5310431213573565,0.0015463638177379835,2.3024830170470523e-05,-0.29220537897146015],"issued_joint_targets_rad":[-2.019935078393534,-1.634950387907511,1.6100551334279785,-1.5461112873129768,-1.570781277917583,-0.4491387346680521],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.279999999999742,"joint_targets_rad":[-2.019935078393534,-1.634950387907511,1.6100551334279785,-1.5461112873129768,-1.570781277917583,-0.4491387346680521],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.29999999999973,"qpos":[-2.0199268426301646,-1.6340271315322146,1.6506289419013798,-1.5874052240535967,-1.5707861444755902,-0.4491329222918599,0.0034001661837831905,0.00015571051432851452,0.0036575783865360916,-0.0038719636603662968,0.0034003120375604703,0.00015629256727714178,0.003665064870890978,-0.003879992129909186,0.08123550790505642,0.4777356025321845,0.2998922445797833,0.99999999999945,-1.8959228438854924e-11,8.328122392757134e-13,1.0484555695024859e-06],"qvel":[-0.00013679761178022015,-0.00613452330711271,-0.20598322282243664,0.20767665022875467,1.5134657523754727e-05,-2.925743018544902e-05,-0.004793041733443619,-4.1536811907544996e-05,-0.004733107527501053,0.00467901809605447,-0.004770636897726883,8.22583110237069e-06,-0.004488993573467897,0.004690754364703368,-1.0817527126815955e-12,-2.4627042370182222e-11,1.272950836362829e-14,4.168379734794372e-10,-1.831070373829089e-11,3.1262824184442646e-21],"joint_position_rad":[-2.0199268426301646,-1.6340271315322146,1.6506289419013798,-1.5874052240535967,-1.5707861444755902,-0.4491329222918599],"joint_velocity_rad_s":[-0.00013679761178022015,-0.00613452330711271,-0.20598322282243664,0.20767665022875467,1.5134657523754727e-05,-2.925743018544902e-05],"linkage_position_rad":[0.0034001661837831905,0.00015571051432851452,0.0036575783865360916,-0.0038719636603662968,0.0034003120375604703,0.00015629256727714178,0.003665064870890978,-0.003879992129909186],"tcp_position_m":[0.08122215344316794,0.4771486037997674,0.3248437774061238],"tcp_quaternion_wxyz":[-5.975232585798333e-06,0.707105930348788,0.707107631996076,1.6650834750376894e-06],"object_position_m":[0.08123550790505642,0.4777356025321845,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8959228438854924e-11,8.328122392757134e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.0817527126815955e-12,-2.4627042370182222e-11,1.272950836362829e-14],"object_angular_velocity_rad_s":[4.168380118744391e-10,-1.830982966606087e-11,3.126283912617136e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09309239677188715,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199306202276808,-1.6440973624110744,1.5995893092981852,-1.5509320735635268,-1.570780025855688,-0.44913873686035116,0.0],"actuator_force":[0.04716384967969134,-17.686652434874304,-19.685976077414125,-2.531089777840407,0.00154584419863113,1.8458772927942846e-05,-0.29220551791133054],"issued_joint_targets_rad":[-2.0199348123097445,-1.6348506199583668,1.6056077769622574,-1.5417644296052555,-1.570781131686479,-0.44913847061966244],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.29999999999973,"joint_targets_rad":[-2.0199348123097445,-1.6348506199583668,1.6056077769622574,-1.5417644296052555,-1.570781131686479,-0.44913847061966244],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.31999999999972,"qpos":[-2.0199266810850776,-1.6341096763459257,1.6463535855831923,-1.583069756111201,-1.5707856496376986,-0.4491334556951924,0.003315855114569723,0.0001557549632911699,0.0035736566602942214,-0.0037919193453026297,0.0033160012300515037,0.0001563391973531446,0.0035811533579338086,-0.003799951583185034,0.08123550790503077,0.4777356025316001,0.2998922445797833,0.99999999999945,-1.9324751804478353e-11,8.488614972557299e-13,1.0484555695024859e-06],"qvel":[-0.00013968120544900227,-0.005206211860725629,-0.206848295122642,0.20773369352647178,1.3407541900171817e-05,-2.522954725667534e-05,-0.003949936145110958,-4.20086776147987e-05,-0.003892916389373374,0.003878871234427041,-0.003927498977528374,7.898948897660679e-06,-0.003648385322547264,0.0038906013549245134,-1.2096191468277851e-12,-2.7538286198726768e-11,1.2723957248505163e-14,1.2297998308621176e-10,-5.40269542409064e-12,5.688320640529914e-21],"joint_position_rad":[-2.0199266810850776,-1.6341096763459257,1.6463535855831923,-1.583069756111201,-1.5707856496376986,-0.4491334556951924],"joint_velocity_rad_s":[-0.00013968120544900227,-0.005206211860725629,-0.206848295122642,0.20773369352647178,1.3407541900171817e-05,-2.522954725667534e-05],"linkage_position_rad":[0.003315855114569723,0.0001557549632911699,0.0035736566602942214,-0.0037919193453026297,0.0033160012300515037,0.0001563391973531446,0.0035811533579338086,-0.003799951583185034],"tcp_position_m":[0.08121994976201674,0.4771444962666521,0.32655192084598506],"tcp_quaternion_wxyz":[-9.90987523546825e-06,0.7071056845306203,0.7071078776665716,1.2171834736171705e-05],"object_position_m":[0.08123550790503077,0.4777356025316001,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9324751804478353e-11,8.488614972557299e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.2096191468277851e-12,-2.7538286198726768e-11,1.2723957248505163e-14],"object_angular_velocity_rad_s":[1.2297999441491352e-10,-5.40243754598235e-12,5.688341198624365e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09310007618421363,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199303563917055,-1.6439964321422464,1.5951413474652782,-1.546585257923508,-1.5707798779877664,-0.44913847278321284,0.0],"actuator_force":[0.04852186892321697,-17.691026848351157,-19.685158186771787,-2.53112025880057,0.0015450707761601734,1.4410715465373869e-05,-0.29220564161786466],"issued_joint_targets_rad":[-2.01993456283664,-1.6347331955576205,1.601143765291692,-1.5374185666319826,-1.5707809862356539,-0.44913822295553213],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.31999999999972,"joint_targets_rad":[-2.01993456283664,-1.6347331955576205,1.601143765291692,-1.5374185666319826,-1.5707809862356539,-0.44913822295553213],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.339999999999709,"qpos":[-2.0199265199253715,-1.6341731139309497,1.642060381327937,-1.5787332761002029,-1.5707851880715302,-0.4491339141543357,0.0032467585276657438,0.00015579126590713137,0.003504880549566494,-0.0037263195100127153,0.0032469048989622155,0.00015637766249460667,0.0035123870408695274,-0.0037343545728444304,0.08123550790500465,0.477735602531005,0.2998922445797833,0.99999999999945,-2.0128312090340867e-11,8.841512961478578e-13,1.0484555695024859e-06],"qvel":[-0.00014260638266798856,-0.004285319815636602,-0.2077073137784231,0.20778060004495613,1.1844646152732706e-05,-2.166296608597655e-05,-0.003258977004492472,-4.240002777939538e-05,-0.003204181493975078,0.0032231746341563634,-0.0032365068023737955,7.654745196067175e-06,-0.002959221336867636,0.0032348872998519303,-1.4336014352077511e-12,-3.263780284514532e-11,1.2728120584847507e-14,-2.967115852127142e-10,1.3032785296237342e-11,1.038110766848605e-20],"joint_position_rad":[-2.0199265199253715,-1.6341731139309497,1.642060381327937,-1.5787332761002029,-1.5707851880715302,-0.4491339141543357],"joint_velocity_rad_s":[-0.00014260638266798856,-0.004285319815636602,-0.2077073137784231,0.20778060004495613,1.1844646152732706e-05,-2.166296608597655e-05],"linkage_position_rad":[0.0032467585276657438,0.00015579126590713137,0.003504880549566494,-0.0037263195100127153,0.0032469048989622155,0.00015637766249460667,0.0035123870408695274,-0.0037343545728444304],"tcp_position_m":[0.0812177867053208,0.47714045300123215,0.3282599462692443],"tcp_quaternion_wxyz":[-1.3454076409472088e-05,0.7071054652777596,0.7071080966346178,2.1612001779216828e-05],"object_position_m":[0.08123550790500465,0.477735602531005,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0128312090340867e-11,8.841512961478578e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.4336014352077511e-12,-3.263780284514532e-11,1.2728120584847507e-14],"object_angular_velocity_rad_s":[-2.9671161254065427e-10,1.3032163118380576e-11,1.0381140141635825e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09310636906405423,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019930109216217,-1.6438780703718943,1.590676909089946,-1.5422394291542378,-1.5707797310111378,-0.4491382250930905,0.0],"actuator_force":[0.049863971376453264,-17.69578495563428,-19.684018964613188,-2.5311365315130843,0.0015440655810152748,1.0827231221810507e-05,-0.29220575229706663],"issued_joint_targets_rad":[-2.019934329196756,-1.6345981234360847,1.5966630163530586,-1.5330736090766333,-1.5707808414018967,-0.44913799091993234],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.339999999999709,"joint_targets_rad":[-2.019934329196756,-1.6345981234360847,1.5966630163530586,-1.5330736090766333,-1.5707808414018967,-0.44913799091993234],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.359999999999697,"qpos":[-2.0199263599484,-1.6342175857618666,1.6377494363557685,-1.5743959689849765,-1.57078475664869,-0.4491343063546635,0.0031901308463609416,0.00015582089239180028,0.0034485168856390656,-0.0036725574280902134,0.0031902774680830576,0.00015640943595388097,0.0034560328132151514,-0.0036805945490101907,0.0812355079049792,0.47773560253042546,0.2998922445797833,0.99999999999945,-1.9518350175663783e-11,8.57357456556935e-13,1.0484555695024859e-06],"qvel":[-0.00014556885322077254,-0.003371167253873553,-0.20856123203470656,0.2078187552612562,1.043099685755421e-05,-1.8509999595482527e-05,-0.0026927083489658933,-4.272548200811473e-05,-0.0026395696187624176,0.0026858595612264968,-0.0026702044633022393,7.478523990387091e-06,-0.0023941692478282504,0.002697545675226647,-1.7819393938538982e-12,-4.0567815394568546e-11,1.2723957248505163e-14,-9.40064363824422e-10,4.129454782214677e-11,1.8982274975793388e-20],"joint_position_rad":[-2.0199263599484,-1.6342175857618666,1.6377494363557685,-1.5743959689849765,-1.57078475664869,-0.4491343063546635],"joint_velocity_rad_s":[-0.00014556885322077254,-0.003371167253873553,-0.20856123203470656,0.2078187552612562,1.043099685755421e-05,-1.8509999595482527e-05],"linkage_position_rad":[0.0031901308463609416,0.00015582089239180028,0.0034485168856390656,-0.0036725574280902134,0.0031902774680830576,0.00015640943595388097,0.0034560328132151514,-0.0036805945490101907],"tcp_position_m":[0.08121566486938184,0.47713647622980226,0.3299678542477896],"tcp_quaternion_wxyz":[-1.664548130268823e-05,0.7071052698234795,0.7071082917103085,3.008853852514698e-05],"object_position_m":[0.0812355079049792,0.47773560253042546,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9518350175663783e-11,8.57357456556935e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.7819393938538982e-12,-4.0567815394568546e-11,1.2723957248505163e-14],"object_angular_velocity_rad_s":[-9.40064450413352e-10,4.1292576590620064e-11,1.8982253019678184e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09311152574660844,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199298779120163,-1.6437422832097874,1.5861959117648936,-1.537894498665381,-1.5707795847521369,-0.4491379930339939,0.0],"actuator_force":[0.05119161405536943,-17.70092799429267,-19.68255636786671,-2.531140366327918,0.0015428485909296796,7.66029435794735e-06,-0.29220585166085933],"issued_joint_targets_rad":[-2.0199341106682693,-1.6344454107641375,1.5921654460929466,-1.5287294670637666,-1.5707806970367273,-0.44913777381086045],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.359999999999697,"joint_targets_rad":[-2.0199341106682693,-1.6344454107641375,1.5921654460929466,-1.5287294670637666,-1.5707806970367273,-0.44913777381086045],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.379999999999686,"qpos":[-2.019926201866567,-1.6342432202934611,1.633420839622858,-1.5700579933892247,-1.5707843525262686,-0.4491346400814729,0.0031437219553768136,0.000155845047491496,0.003402325732759105,-0.0036284968096865853,0.0031438688226278007,0.00015643572526174667,0.0034098507924928113,-0.003636535365805155,0.0812355079049552,0.47773560252987884,0.2998922445797833,0.99999999999945,-1.709728107250118e-11,7.510108620082309e-13,1.0484555695024859e-06],"qvel":[-0.00014856470275908718,-0.0024631330910281786,-0.20941092125203148,0.2078494143383348,9.152988258547279e-06,-1.5727778384606025e-05,-0.002228628872288112,-4.299702022857685e-05,-0.0021766802445236395,0.00224556224207991,-0.002206090697620467,7.3582459711227835e-06,-0.0019308292331370242,0.0022572145140002738,-9.157552273844658e-13,-2.0848268238526832e-11,1.2725345027285945e-14,7.228492338951998e-10,-3.175242365390817e-11,2.0567861911758106e-21],"joint_position_rad":[-2.019926201866567,-1.6342432202934611,1.633420839622858,-1.5700579933892247,-1.5707843525262686,-0.4491346400814729],"joint_velocity_rad_s":[-0.00014856470275908718,-0.0024631330910281786,-0.20941092125203148,0.2078494143383348,9.152988258547279e-06,-1.5727778384606025e-05],"linkage_position_rad":[0.0031437219553768136,0.000155845047491496,0.003402325732759105,-0.0036284968096865853,0.0031438688226278007,0.00015643572526174667,0.0034098507924928113,-0.003636535365805155],"tcp_position_m":[0.08121358490044914,0.47713256820511757,0.33167564524226134],"tcp_quaternion_wxyz":[-1.9518119421708642e-05,0.7071050956842169,0.7071084654107758,3.76944886684089e-05],"object_position_m":[0.0812355079049552,0.47773560252987884,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.709728107250118e-11,7.510108620082309e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.157552273844658e-13,-2.0848268238526832e-11,1.2725345027285945e-14],"object_angular_velocity_rad_s":[7.228493004756209e-10,-3.1750907903227967e-11,2.0567851973465336e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09311575135071803,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019929661746504,-1.643589075457319,1.5816982711145182,-1.5335503772367503,-1.5707794390527898,-0.4491377759036842,0.0],"actuator_force":[0.05250612122972598,-17.706457091304856,-19.68076851586693,-2.531133357596218,0.0015414379134881528,4.866732808750385e-06,-0.29220594105068787],"issued_joint_targets_rad":[-2.019933906579057,-1.6342750631565843,1.5876509684157434,-1.524386050114976,-1.5707805530047383,-0.4491375709742456],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.379999999999686,"joint_targets_rad":[-2.019933906579057,-1.6342750631565843,1.5876509684157434,-1.524386050114976,-1.5707805530047383,-0.4491375709742456],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.399999999999675,"qpos":[-2.0199260457600356,-1.634250135477588,1.6290747301799668,-1.5657194838704325,-1.5707839730962603,-0.44913492231123225,0.003105687828925319,0.00015586482279018892,0.0033644708229308116,-0.003592387620041635,0.003105834904335733,0.00015645755987988072,0.0033720047020702375,-0.0036004268089359585,0.08123550790492716,0.47773560252923997,0.2998922445797833,0.99999999999945,-1.843556961665566e-11,8.097932623630895e-13,1.0484555695024859e-06],"qvel":[-0.00015163187553305602,-0.0015602757671138096,-0.21025731374965864,0.2078738495848888,8.006737774242236e-06,-1.3277819401060521e-05,-0.0018482808829186003,-4.322498034620338e-05,-0.0017971045031711355,0.001884737934929073,-0.0018257047054728766,7.295295389208777e-06,-0.001550745624949282,0.0018963632542792876,-9.988210696104092e-13,-2.273947433755534e-11,1.2723957248505163e-14,6.442281499507916e-10,-2.8299022616211573e-11,3.7552273531068276e-21],"joint_position_rad":[-2.0199260457600356,-1.634250135477588,1.6290747301799668,-1.5657194838704325,-1.5707839730962603,-0.44913492231123225],"joint_velocity_rad_s":[-0.00015163187553305602,-0.0015602757671138096,-0.21025731374965864,0.2078738495848888,8.006737774242236e-06,-1.3277819401060521e-05],"linkage_position_rad":[0.003105687828925319,0.00015586482279018892,0.0033644708229308116,-0.003592387620041635,0.003105834904335733,0.00015645755987988072,0.0033720047020702375,-0.0036004268089359585],"tcp_position_m":[0.08121153973714183,0.4771287157272662,0.3333832873742375],"tcp_quaternion_wxyz":[-2.2091941099664976e-05,0.7071049404361152,0.7071086201879087,4.448297375828319e-05],"object_position_m":[0.08123550790492716,0.47773560252923997,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.843556961665566e-11,8.097932623630895e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.988210696104092e-13,-2.273947433755534e-11,1.2723957248505163e-14],"object_angular_velocity_rad_s":[6.442282092899106e-10,-2.8297671726965644e-11,3.755236373181053e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09311921408455395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199294600511664,-1.6434184504510823,1.5771839007880688,-1.5292069747834711,-1.5707792937690124,-0.44913757304795093,0.0],"actuator_force":[0.05382416795146128,-17.712519640143,-19.678733283932615,-2.531130415008306,0.0015389898464945873,2.4135807734637638e-06,-0.2922062087210952],"issued_joint_targets_rad":[-2.0199337158033983,-1.6340871209921979,1.583119610998285,-1.5200433462836058,-1.5707804092118498,-0.44913738130152603],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.399999999999675,"joint_targets_rad":[-2.0199337158033983,-1.6340871209921979,1.583119610998285,-1.5200433462836058,-1.5707804092118498,-0.44913738130152603],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.419999999999664,"qpos":[-2.0199258927361434,-1.6342384382307558,1.6247111799193237,-1.5613805598189752,-1.5707836160294124,-0.44913515924696595,0.0030745172226994,0.00015588094921763375,0.003333448195096674,-0.003562794599720441,0.0030746645011464654,0.00015647573537176651,0.003340990711201145,-0.003570833961095336,0.08123550790489965,0.4777356025286137,0.2998922445797833,0.99999999999945,-1.9444577007988198e-11,8.541066460531337e-13,1.0484555695024859e-06],"qvel":[-0.00015473576684102948,-0.0006625358602488687,-0.2111007908875597,0.20789261447352694,6.972630251860452e-06,-1.1123132294494797e-05,-0.0015365656190299462,-4.341885317870105e-05,-0.0014858327625857776,0.001589085380642233,-0.001513950691095384,7.2694506163366795e-06,-0.001238956356798949,0.0016006752846772592,-1.0924745644296636e-12,-2.4871858591998544e-11,1.273089614240907e-14,4.844215523725002e-10,-2.1279134778384838e-11,6.856583533262873e-21],"joint_position_rad":[-2.0199258927361434,-1.6342384382307558,1.6247111799193237,-1.5613805598189752,-1.5707836160294124,-0.44913515924696595],"joint_velocity_rad_s":[-0.00015473576684102948,-0.0006625358602488687,-0.2111007908875597,0.20789261447352694,6.972630251860452e-06,-1.1123132294494797e-05],"linkage_position_rad":[0.0030745172226994,0.00015588094921763375,0.003333448195096674,-0.003562794599720441,0.0030746645011464654,0.00015647573537176651,0.003340990711201145,-0.003570833961095336],"tcp_position_m":[0.0812095294967657,0.47712491922594336,0.33509077476770494],"tcp_quaternion_wxyz":[-2.4393521876164433e-05,0.7071048022880897,0.7071087578535218,5.0526492558906657e-05],"object_position_m":[0.08123550790489965,0.4777356025286137,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9444577007988198e-11,8.541066460531337e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.0924745644296636e-12,-2.4871858591998544e-11,1.273089614240907e-14],"object_angular_velocity_rad_s":[4.844215969918896e-10,-2.1278118989388898e-11,6.856595958543665e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931220515680314,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019929271683703,-1.6432304466520045,1.5726528281825525,-1.5248642798553704,-1.570779148798928,-0.44913738335805153,0.0],"actuator_force":[0.05513641161724081,-17.719002498397913,-19.67638711851896,-2.5311214655503136,0.001536352217044623,2.5768665068426344e-07,-0.29220650464166664],"issued_joint_targets_rad":[-2.019933538208593,-1.6338815920108762,1.5785713040947518,-1.515701279073665,-1.5707802655485508,-0.4491372046736927],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.419999999999664,"joint_targets_rad":[-2.019933538208593,-1.6338815920108762,1.5785713040947518,-1.515701279073665,-1.5707802655485508,-0.4491372046736927],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.439999999999653,"qpos":[-2.019925743400386,-1.6342082274977352,1.620330237155783,-1.5570413229130933,-1.5707832792019953,-0.4491353564812319,0.0030489715687470036,0.0001558940647334049,0.0033080250312939484,-0.0035385416922291938,0.003049119047419576,0.000156490895356519,0.0033155760033051268,-0.0035465808990060637,0.08123550790487283,0.4777356025280035,0.2998922445797833,0.99999999999945,-1.999707363124836e-11,8.783676711719061e-13,1.0484555695024859e-06],"qvel":[-0.0001578640570668157,0.0002304779544625624,-0.2119419869911907,0.20790658337166668,6.039949524869271e-06,-9.234865872986533e-06,-0.0012811006365126734,-4.3583554752840215e-05,-0.0012305481686115457,0.001346838769018001,-0.001258446533435681,7.274495559868551e-06,-0.0009831469374987,0.0013583889008539946,-1.2155814900001261e-12,-2.7674818580009054e-11,1.2728120584847508e-14,2.147996015077676e-10,-9.435789854489115e-12,1.2516100442552668e-20],"joint_position_rad":[-2.019925743400386,-1.6342082274977352,1.620330237155783,-1.5570413229130933,-1.5707832792019953,-0.4491353564812319],"joint_velocity_rad_s":[-0.0001578640570668157,0.0002304779544625624,-0.2119419869911907,0.20790658337166668,6.039949524869271e-06,-9.234865872986533e-06],"linkage_position_rad":[0.0030489715687470036,0.0001558940647334049,0.0033080250312939484,-0.0035385416922291938,0.003049119047419576,0.000156490895356519,0.0033155760033051268,-0.0035465808990060637],"tcp_position_m":[0.08120755526969996,0.47712118156623773,0.3367981072828662],"tcp_quaternion_wxyz":[-2.6448992576421034e-05,0.7071046794845737,0.7071088801783219,5.5896583542295026e-05],"object_position_m":[0.08123550790487283,0.4777356025280035,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.999707363124836e-11,8.783676711719061e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.2155814900001261e-12,-2.7674818580009054e-11,1.2728120584847508e-14],"object_angular_velocity_rad_s":[2.1479962129330807e-10,-9.435339438791308e-12,1.2516121735666154e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09312437663199681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199290965002197,-1.64302507001865,1.568104983276633,-1.5205222164536878,-1.5707790040259422,-0.4491372067147966,0.0],"actuator_force":[0.05643942315919048,-17.725876223614705,-19.673712961824094,-2.5311051074638726,0.0015335930741002812,-1.630195043844651e-06,-0.29220679495858726],"issued_joint_targets_rad":[-2.0199333733372584,-1.6336584768936024,1.5740059558683406,-1.5113597569491906,-1.5707801219076647,-0.4491370406466893],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.439999999999653,"joint_targets_rad":[-2.0199333733372584,-1.6336584768936024,1.5740059558683406,-1.5113597569491906,-1.5707801219076647,-0.4491370406466893],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.459999999999642,"qpos":[-2.019925598171747,-1.6341595931766104,1.61593193703657,-1.552701856570161,-1.5707829606777566,-0.4491355190295398,0.0030280357989212665,0.00015590471162954718,0.003287190881018109,-0.0035186652045517026,0.003028183474442482,0.0001565035818971524,0.003294750145440143,-0.0035267039914654084,0.0812355079048469,0.47773560252741365,0.2998922445797833,0.99999999999945,-1.987827515464917e-11,8.731315044582135e-13,1.0484555695024859e-06],"qvel":[-0.0001610135092090239,0.001119218276375039,-0.21278154340237806,0.20791663898579435,5.199680385494154e-06,-7.585445785831414e-06,-0.0010717353316600949,-4.372422898426638e-05,-0.0010211474037316642,0.001148358803199321,-0.0010490415327671474,7.3055753395552585e-06,-0.0007732124644779167,0.0011598661963020465,-1.3994231032695375e-12,-3.186118078501295e-11,1.2735059478751417e-14,-2.0603720657566655e-10,9.047942515587346e-12,2.2888296504657304e-20],"joint_position_rad":[-2.019925598171747,-1.6341595931766104,1.61593193703657,-1.552701856570161,-1.5707829606777566,-0.4491355190295398],"joint_velocity_rad_s":[-0.0001610135092090239,0.001119218276375039,-0.21278154340237806,0.20791663898579435,5.199680385494154e-06,-7.585445785831414e-06],"linkage_position_rad":[0.0030280357989212665,0.00015590471162954718,0.003287190881018109,-0.0035186652045517026,0.003028183474442482,0.0001565035818971524,0.003294750145440143,-0.0035267039914654084],"tcp_position_m":[0.08120561810491987,0.47711750561668065,0.3385052848428759],"tcp_quaternion_wxyz":[-2.8282062572470508e-05,0.7071045704059489,0.7071089887929107,6.065814216132116e-05],"object_position_m":[0.0812355079048469,0.47773560252741365,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.987827515464917e-11,8.731315044582135e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.3994231032695375e-12,-3.186118078501295e-11,1.2735059478751417e-14],"object_angular_velocity_rad_s":[-2.0603722554794487e-10,9.04751047385393e-12,2.2888385279954008e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931262817606313,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019928934035089,-1.642802319612194,1.5635402739756237,-1.5161806934958315,-1.5707788593364258,-0.44913704267396537,0.0],"actuator_force":[0.05773367699930532,-17.733140181717317,-19.670708760941125,-2.5310823614147466,0.0015307026268374102,-3.277634192500045e-06,-0.29220707934605117],"issued_joint_targets_rad":[-2.0199332206556355,-1.6334177748404701,1.5694234719882587,-1.5070186872846738,-1.5707799781900262,-0.44913688869910245],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.459999999999642,"joint_targets_rad":[-2.0199332206556355,-1.6334177748404701,1.5694234719882587,-1.5070186872846738,-1.5707799781900262,-0.44913688869910245],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.479999999999631,"qpos":[-2.0199254574109045,-1.6340926164064933,1.6115163023577463,-1.548362227354074,-1.5707826586957396,-0.44913565137702627,0.003010878021369289,0.00015591333503961783,0.003270117628483115,-0.003502375361835786,0.0030110258907520156,0.00015651424190845048,0.0032776850471261747,-0.0035104135146403763,0.08123550790482222,0.47773560252685165,0.2998922445797833,0.99999999999945,-1.876996024342701e-11,8.244284264725909e-13,1.0484555695024859e-06],"qvel":[-0.00016418173953127113,0.0020041041549580187,-0.21362005024227676,0.20792358511158332,4.443442313210343e-06,-6.1495840171311295e-06,-0.000900150749528427,-4.384532094276646e-05,-0.0008493491164608663,0.000985747842364097,-0.0008774167374956516,7.3582672512877644e-06,-0.0006008716655057354,0.0009972101242427575,-1.6971016842157853e-12,-3.864007143178771e-11,1.273089614240907e-14,-8.360257544822859e-10,3.6716574922093975e-11,4.182906488408713e-20],"joint_position_rad":[-2.0199254574109045,-1.6340926164064933,1.6115163023577463,-1.548362227354074,-1.5707826586957396,-0.44913565137702627],"joint_velocity_rad_s":[-0.00016418173953127113,0.0020041041549580187,-0.21362005024227676,0.20792358511158332,4.443442313210343e-06,-6.1495840171311295e-06],"linkage_position_rad":[0.003010878021369289,0.00015591333503961783,0.003270117628483115,-0.003502375361835786,0.0030110258907520156,0.00015651424190845048,0.0032776850471261747,-0.0035104135146403763],"tcp_position_m":[0.08120371909960904,0.4771138943050159,0.340212307308653],"tcp_quaternion_wxyz":[-2.991417052430343e-05,0.7071044735978407,0.7071090851594024,6.486983353795015e-05],"object_position_m":[0.08123550790482222,0.47773560252685165,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.876996024342701e-11,8.244284264725909e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.6971016842157853e-12,-3.864007143178771e-11,1.273089614240907e-14],"object_angular_velocity_rad_s":[-8.360258314718423e-10,3.671482185029616e-11,4.1829247344039184e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09312784274435044,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01992878374708,-1.6425621931783576,1.558958605709347,-1.5118396187654162,-1.5707787146253467,-0.44913689071399565,0.0],"actuator_force":[0.05902002346147128,-17.740795205711493,-19.66737319988806,-2.531054216829375,0.0015276909650765447,-4.710082976089325e-06,-0.29220735817094484],"issued_joint_targets_rad":[-2.0199330796538675,-1.6331594834320324,1.564823755794066,-1.5026779766729779,-1.5707798343039585,-0.44913674833228256],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.479999999999631,"joint_targets_rad":[-2.0199330796538675,-1.6331594834320324,1.564823755794066,-1.5026779766729779,-1.5707798343039585,-0.44913674833228256],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.49999999999962,"qpos":[-2.019925321428948,-1.6340073702429767,1.6070833445275987,-1.5440224865074346,-1.570782371654873,-0.44913575753100127,0.0029968164656147865,0.0001559202996260519,0.0032561265977529377,-0.0034890249128857356,0.002996964526264,0.00015652324180184232,0.003263702055247412,-0.003497062258817064,0.08123550790479933,0.47773560252633035,0.2998922445797833,0.99999999999945,-1.62216157967812e-11,7.124825350617857e-13,1.0484555695024859e-06],"qvel":[-0.00016736660269158269,0.002885521718447939,-0.21445805190539244,0.20792815214951232,3.763617169146074e-06,-4.904520968353211e-06,-0.0007595291451334848,-4.395046211229217e-05,-0.0007083662339825786,0.0008525334446774504,-0.0007367544130703954,7.428940919607482e-06,-0.0004593376316567606,0.0008639487794083747,-8.719036092916022e-13,-1.9851660175263283e-11,1.2728120584847507e-14,6.946179808935456e-10,-3.051019141850271e-11,4.5314738284013904e-21],"joint_position_rad":[-2.019925321428948,-1.6340073702429767,1.6070833445275987,-1.5440224865074346,-1.570782371654873,-0.44913575753100127],"joint_velocity_rad_s":[-0.00016736660269158269,0.002885521718447939,-0.21445805190539244,0.20792815214951232,3.763617169146074e-06,-4.904520968353211e-06],"linkage_position_rad":[0.0029968164656147865,0.0001559202996260519,0.0032561265977529377,-0.0034890249128857356,0.002996964526264,0.00015652324180184232,0.003263702055247412,-0.003497062258817064],"tcp_position_m":[0.08120185940147191,0.47711035062273593,0.34191917447300574],"tcp_quaternion_wxyz":[-3.1364696962145535e-05,0.7071043877559934,0.7071091705872715,6.85846771964549e-05],"object_position_m":[0.08123550790479933,0.47773560252633035,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.62216157967812e-11,7.124825350617857e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-8.719036092916022e-13,-1.9851660175263283e-11,1.2728120584847507e-14],"object_angular_velocity_rad_s":[6.946180448691783e-10,-3.050873486625412e-11,4.53149300149024e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09312912169279298,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019928645119406,-1.6423046869958338,1.5543598815960262,-1.5074988992241112,-1.5707785697956957,-0.44913675033610345,0.0],"actuator_force":[0.060299260160718404,-17.74884219309297,-19.663705100987954,-2.531021573289536,0.0015245678716837574,-5.9504542377908365e-06,-0.2922076318029199],"issued_joint_targets_rad":[-2.0199329498464103,-1.6328835986131562,1.5602067082715065,-1.498337530924442,-1.5707796901644513,-0.4491366190708424],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.49999999999962,"joint_targets_rad":[-2.0199329498464103,-1.6328835986131562,1.5602067082715065,-1.498337530924442,-1.5707796901644513,-0.4491366190708424],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.519999999999609,"qpos":[-2.0199251904913673,-1.6339039202836267,1.6026330644311575,-1.539682671345097,-1.5707820980993261,-0.44913584106897786,0.0029852923920342493,0.0001559259041906631,0.0032446615859159757,-0.003478083410190081,0.002985440641717168,0.0001565308819911131,0.003252244986911561,-0.0034861198100117415,0.08123550790477291,0.4777356025257288,0.2998922445797833,0.99999999999945,-1.7320337558679575e-11,7.607341841045845e-13,1.0484555695024859e-06],"qvel":[-0.0001705661399549109,0.003763827262478581,-0.2152960516232807,0.20793100410502655,3.153286513331195e-06,-3.829785447585312e-06,-0.0006442830889341319,-4.404262994877178e-05,-0.000592636443967791,0.0007434112166591066,-0.0006214671372087164,7.514625414224612e-06,-0.00034304817767670027,0.0007547781999027608,-9.399945976242445e-13,-2.1402180625408824e-11,1.2722569469724381e-14,6.107912549278703e-10,-2.6827804824357327e-11,8.266809469485496e-21],"joint_position_rad":[-2.0199251904913673,-1.6339039202836267,1.6026330644311575,-1.539682671345097,-1.5707820980993261,-0.44913584106897786],"joint_velocity_rad_s":[-0.0001705661399549109,0.003763827262478581,-0.2152960516232807,0.20793100410502655,3.153286513331195e-06,-3.829785447585312e-06],"linkage_position_rad":[0.0029852923920342493,0.0001559259041906631,0.0032446615859159757,-0.003478083410190081,0.002985440641717168,0.0001565308819911131,0.003252244986911561,-0.0034861198100117415],"tcp_position_m":[0.08120004020922879,0.4771068776304627,0.34362588606520383],"tcp_quaternion_wxyz":[-3.2651161692990793e-05,0.707104311710992,0.7071092462492045,7.18505895664237e-05],"object_position_m":[0.08123550790477291,0.4777356025257288,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7320337558679575e-11,7.607341841045845e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.399945976242445e-13,-2.1402180625408824e-11,1.2722569469724381e-14],"object_angular_velocity_rad_s":[6.107913111820498e-10,-2.6826524049312262e-11,8.26682094031584e-21],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313016950478283,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019928517660073,-1.642029795847566,1.5497440024176397,-1.5031584410146115,-1.5707784247576149,-0.4491366210647801,0.0],"actuator_force":[0.06157211857043876,-17.757282032869625,-19.659703377723417,-2.530985245259899,0.001521342204227949,-7.019356331738891e-06,-0.29220790055685664],"issued_joint_targets_rad":[-2.019932830768852,-1.6325901146716288,1.5555722279967772,-1.4939972550391838,-1.570779545692404,-0.4491365004595662],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.519999999999609,"joint_targets_rad":[-2.019932830768852,-1.6325901146716288,1.5555722279967772,-1.4939972550391838,-1.570779545692404,-0.4491365004595662],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.539999999999598,"qpos":[-2.0199250648213773,-1.6337823252317156,1.5981654532069376,-1.5353428065119439,-1.570781836705157,-0.4491359051818183,0.0029758478899689893,0.00015593039355638088,0.0032352667617180295,-0.0034691161310833173,0.0029759963267896473,0.00015653740878963723,0.0032428580284473247,-0.003477151472655997,0.08123550790474544,0.4777356025251028,0.2998922445797833,0.99999999999945,-1.9145651794655667e-11,8.408924985629932e-13,1.0484555695024859e-06],"qvel":[-0.0001737785601116394,0.004639350241030475,-0.2161345156592853,0.2079327450824789,2.606168486279166e-06,-2.90696112798025e-06,-0.0005498334473449887,-4.412426613993031e-05,-0.000497601183314627,0.0006540340198653691,-0.0005269757812034568,7.612890369492526e-06,-0.0002474448293454753,0.0006653515964419771,-1.0599745154235953e-12,-2.413428676803618e-11,1.2729508363628292e-14,4.996545810292695e-10,-2.1946312112480242e-11,1.5100839483746578e-20],"joint_position_rad":[-2.0199250648213773,-1.6337823252317156,1.5981654532069376,-1.5353428065119439,-1.570781836705157,-0.4491359051818183],"joint_velocity_rad_s":[-0.0001737785601116394,0.004639350241030475,-0.2161345156592853,0.2079327450824789,2.606168486279166e-06,-2.90696112798025e-06],"linkage_position_rad":[0.0029758478899689893,0.00015593039355638088,0.0032352667617180295,-0.0034691161310833173,0.0029759963267896473,0.00015653740878963723,0.0032428580284473247,-0.003477151472655997],"tcp_position_m":[0.08119826277319399,0.4771034784634483,0.3453324417554592],"tcp_quaternion_wxyz":[-3.378940248800196e-05,0.7071042444144215,0.7071093131954003,7.471087490105794e-05],"object_position_m":[0.08123550790474544,0.4777356025251028,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9145651794655667e-11,8.408924985629932e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.0599745154235953e-12,-2.413428676803618e-11,1.2729508363628292e-14],"object_angular_velocity_rad_s":[4.996546270476369e-10,-2.1945264381175362e-11,1.5100860707195794e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313102789224237,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199284008986447,-1.6417375129879859,1.5451108665637636,-1.4988181494364448,-1.570778279427597,-0.44913650244470005,0.0],"actuator_force":[0.06283926951027752,-17.766115608952532,-19.655367022633527,-2.530945970498351,0.001518021931246949,-7.935328113717333e-06,-0.2922081646951896],"issued_joint_targets_rad":[-2.0199327219747087,-1.6322790242132197,1.550920211077513,-1.4896570531790494,-1.5707794008139484,-0.4491363920603001],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.539999999999598,"joint_targets_rad":[-2.0199327219747087,-1.6322790242132197,1.550920211077513,-1.4896570531790494,-1.5707794008139484,-0.4491363920603001],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.559999999999587,"qpos":[-2.0199249446028964,-1.6336426374028474,1.593680492943843,-1.531002905117354,-1.570781586268182,-0.449135952712446,0.0029681076823422493,0.00015593396831117443,0.003227568552573015,-0.0034617668029999047,0.002968256304717087,0.00015654302416590778,0.003235167622758519,-0.0034698009960357525,0.08123550790471813,0.477735602524481,0.2998922445797833,0.99999999999945,-2.0257584025473687e-11,8.897255987532813e-13,1.0484555695024859e-06],"qvel":[-0.00017700222333620725,0.005512395992277601,-0.2169738771141398,0.20793392515926276,2.1165600092668847e-06,-2.119475307102621e-06,-0.00047242742776674036,-4.4197373207811854e-05,-0.0004195245005678478,0.0005808392163468189,-0.00044952755535364113,7.721748732515669e-06,-0.00016879169151178032,0.00059210661486793,-1.1993535334825009e-12,-2.730793896548694e-11,1.2729508363628292e-14,2.7625864731824584e-10,-1.2133953435354968e-11,2.758472041173415e-20],"joint_position_rad":[-2.0199249446028964,-1.6336426374028474,1.593680492943843,-1.531002905117354,-1.570781586268182,-0.449135952712446],"joint_velocity_rad_s":[-0.00017700222333620725,0.005512395992277601,-0.2169738771141398,0.20793392515926276,2.1165600092668847e-06,-2.119475307102621e-06],"linkage_position_rad":[0.0029681076823422493,0.00015593396831117443,0.003227568552573015,-0.0034617668029999047,0.002968256304717087,0.00015654302416590778,0.003235167622758519,-0.0034698009960357525],"tcp_position_m":[0.08119652839611702,0.47710015633727354,0.3470388411589094],"tcp_quaternion_wxyz":[-3.479373659473378e-05,0.7071041849264185,0.7071093723663827,7.720466892695089e-05],"object_position_m":[0.08123550790471813,0.477735602524481,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0257584025473687e-11,8.897255987532813e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.1993535334825009e-12,-2.730793896548694e-11,1.2729508363628292e-14],"object_angular_velocity_rad_s":[2.762586727614604e-10,-1.2133374145493475e-11,2.7584729035847383e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931317310386069,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199282943829933,-1.6414278301078413,1.5404603699721824,-1.4944779289210872,-1.5707781337277664,-0.4491363940376103,0.0],"actuator_force":[0.0641013291406125,-17.775343806898945,-19.650695097665448,-2.53090441779284,0.0015146142069397683,-8.715051421859243e-06,-0.29220842443736494],"issued_joint_targets_rad":[-2.0199326230324277,-1.6319503181330608,1.546250551091311,-1.4853168286402105,-1.5707792554598379,-0.4491362934490331],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.559999999999587,"joint_targets_rad":[-2.0199326230324277,-1.6319503181330608,1.546250551091311,-1.4853168286402105,-1.5707792554598379,-0.4491362934490331],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.579999999999576,"qpos":[-2.019924829983199,-1.6334849031796213,1.5891781573056307,-1.5266629697582383,-1.5707813456929438,-0.4491359861905673,0.002961764213777913,0.00015593679279420913,0.0032212608002483815,-0.0034557434462353684,0.0029619130204124574,0.00015654789374011196,0.003228867625305863,-0.0034637764180304033,0.08123550790469138,0.4777356025238714,0.2998922445797833,0.99999999999945,-2.0547543245071123e-11,9.024637989786784e-13,1.0484555695024859e-06],"qvel":[-0.00018023562648383678,0.00638324821672347,-0.21781453937957668,0.20793504569315202,1.6792841532196195e-06,-1.4524087836011457e-06,-0.0004089894588125521,-4.4263593894077125e-05,-0.0003553446064502803,0.0005209070940730208,-0.0003860468894863984,7.839577011074733e-06,-0.00010402700291172318,0.000532123773464574,-1.3832626273985932e-12,-3.149516666815596e-11,1.2732283921189855e-14,-1.0213083152286252e-10,4.486019912345001e-12,5.035504476724029e-20],"joint_position_rad":[-2.019924829983199,-1.6334849031796213,1.5891781573056307,-1.5266629697582383,-1.5707813456929438,-0.4491359861905673],"joint_velocity_rad_s":[-0.00018023562648383678,0.00638324821672347,-0.21781453937957668,0.20793504569315202,1.6792841532196195e-06,-1.4524087836011457e-06],"linkage_position_rad":[0.002961764213777913,0.00015593679279420913,0.0032212608002483815,-0.0034557434462353684,0.0029619130204124574,0.00015654789374011196,0.003228867625305863,-0.0034637764180304033],"tcp_position_m":[0.08119483843428901,0.4770969145538027,0.34874508383912434],"tcp_quaternion_wxyz":[-3.567710672187998e-05,0.707104132404479,0.707109424604479,7.936733974404995e-05],"object_position_m":[0.08123550790469138,0.4777356025238714,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0547543245071123e-11,9.024637989786784e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.3832626273985932e-12,-3.149516666815596e-11,1.2732283921189855e-14],"object_angular_velocity_rad_s":[-1.0213084092942304e-10,4.485805753056879e-12,5.0355034556300194e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313230695778107,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199281976762626,-1.641100737296386,1.535792406067088,-1.4901376830074171,-1.5707779875852321,-0.44913629541941036,0.0],"actuator_force":[0.06535886446636141,-17.784967520218743,-19.64568672525502,-2.5308611939045704,0.0015111254406292574,-9.373543150559271e-06,-0.2922086799680238],"issued_joint_targets_rad":[-2.019932533522564,-1.6316039855832827,1.5415631390215851,-1.4809764838263415,-1.5707791095648989,-0.4491362042131461],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.579999999999576,"joint_targets_rad":[-2.019932533522564,-1.6316039855832827,1.5415631390215851,-1.4809764838263415,-1.5707791095648989,-0.4491362042131461],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.599999999999564,"qpos":[-2.019924721075285,-1.6333091634190362,1.5846584120895968,-1.5223229934413944,-1.5707811139826846,-0.44913600786379904,0.002956565429686451,0.00015593900164035545,0.0032160925953581003,-0.0034508067715901163,0.0029567144195532147,0.0001565521533381181,0.0032237071388470373,-0.0034588384635490777,0.08123550790466559,0.47773560252328406,0.2998922445797833,0.99999999999945,-1.9798086486655553e-11,8.695447998022168e-13,1.0484555695024859e-06],"qvel":[-0.00018347738942041088,0.00725217123168767,-0.2186568792746498,0.20793656411753705,1.289642303920595e-06,-8.923247354064113e-07,-0.00035699898049973736,-4.432427615930373e-05,-0.0003025522145191133,0.00047184484197187435,-0.000334013223413666,7.965049565735707e-06,-5.064148161217168e-05,0.000483010446389174,-1.6627820745900247e-12,-3.7859850555877944e-11,1.2735059478751417e-14,-6.875919768572361e-10,3.0199557181976173e-11,9.190713164255617e-20],"joint_position_rad":[-2.019924721075285,-1.6333091634190362,1.5846584120895968,-1.5223229934413944,-1.5707811139826846,-0.44913600786379904],"joint_velocity_rad_s":[-0.00018347738942041088,0.00725217123168767,-0.2186568792746498,0.20793656411753705,1.289642303920595e-06,-8.923247354064113e-07],"linkage_position_rad":[0.002956565429686451,0.00015593900164035545,0.0032160925953581003,-0.0034508067715901163,0.0029567144195532147,0.0001565521533381181,0.0032237071388470373,-0.0034588384635490777],"tcp_position_m":[0.0811931942989377,0.47709375650744285,0.35045116931119324],"tcp_quaternion_wxyz":[-3.645121299101728e-05,0.7071040860934098,0.7071094706640978,8.123085011371085e-05],"object_position_m":[0.08123550790466559,0.47773560252328406,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9798086486655553e-11,8.695447998022168e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.6627820745900247e-12,-3.7859850555877944e-11,1.2735059478751417e-14],"object_angular_velocity_rad_s":[-6.875920401815117e-10,3.01981153626344e-11,9.190715740871237e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313277860773672,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019928110354006,-1.640756223000763,1.5311068656946565,-1.4857973143174719,-1.570777840931505,-0.44913620617740013,0.0],"actuator_force":[0.06661239832556021,-17.79498765612925,-19.64034108002079,-2.530816849792359,0.00150756135951724,-9.92432703128543e-06,-0.2922089314424163],"issued_joint_targets_rad":[-2.0199324530351213,-1.6312400139367902,1.5368578631904377,-1.476635920222206,-1.5707789630675344,-0.44913612394882213],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.599999999999564,"joint_targets_rad":[-2.0199324530351213,-1.6312400139367902,1.5368578631904377,-1.476635920222206,-1.5707789630675344,-0.44913612394882213],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.619999999999553,"qpos":[-2.0199246179599704,-1.6331154538168584,1.5801212157254787,-1.5179829604148811,-1.5707808902302327,-0.4491360197255643,0.0029523047607113414,0.00015594070514328903,0.003211858307235753,-0.0034467606718152663,0.0029524539330289742,0.0001565559143635076,0.0032194805435246288,-0.0034547910366262125,0.08123550790464135,0.4777356025227326,0.2998922445797833,0.99999999999945,-1.7630719851845468e-11,7.743499269427051e-13,1.0484555695024859e-06],"qvel":[-0.00018672624239653493,0.008119412024487412,-0.21950124989640898,0.20793889827455794,9.433706374470378e-07,-4.271147378589667e-07,-0.0003143902880496378,-4.438052650412182e-05,-0.00025909083580906954,0.0004316914642817005,-0.0002913608509210879,8.09708525605864e-06,-6.578622101003333e-06,0.0004428057883199802,-2.122195177875308e-12,-4.832079409784777e-11,1.2733671699970635e-14,-1.553851013239697e-09,6.824552789847846e-11,1.6779200078189926e-19],"joint_position_rad":[-2.0199246179599704,-1.6331154538168584,1.5801212157254787,-1.5179829604148811,-1.5707808902302327,-0.4491360197255643],"joint_velocity_rad_s":[-0.00018672624239653493,0.008119412024487412,-0.21950124989640898,0.20793889827455794,9.433706374470378e-07,-4.271147378589667e-07],"linkage_position_rad":[0.0029523047607113414,0.00015594070514328903,0.003211858307235753,-0.0034467606718152663,0.0029524539330289742,0.0001565559143635076,0.0032194805435246288,-0.0034547910366262125],"tcp_position_m":[0.08119159745791046,0.4770906856917631,0.35215709704443443],"tcp_quaternion_wxyz":[-3.7126632209925785e-05,0.7071040453162949,0.7071095112209387,8.28240848581331e-05],"object_position_m":[0.08123550790464135,0.4777356025227326,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7630719851845468e-11,7.743499269427051e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-2.122195177875308e-12,-4.832079409784777e-11,1.2733671699970635e-14],"object_angular_velocity_rad_s":[-1.5538511563410873e-09,6.824226961083036e-11,1.6779207160879165e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313316480306977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019928032001491,-1.6403942739823902,1.5264036370556784,-1.4814567245323622,-1.5707776937019717,-0.4491361259076897,0.0],"actuator_force":[0.06786241391773729,-17.80540514085851,-19.63465738103696,-2.530771886196362,0.0015039270667784876,-1.0379588928799421e-05,-0.29220917899216214],"issued_joint_targets_rad":[-2.019932381167012,-1.6308583887470303,1.532134609188214,-1.4722950383675313,-1.5707788159092786,-0.4491360522585725],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.619999999999553,"joint_targets_rad":[-2.019932381167012,-1.6308583887470303,1.532134609188214,-1.4722950383675313,-1.5707788159092786,-0.4491360522585725],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.639999999999542,"qpos":[-2.0199245206877197,-1.6329038052327602,1.5755665197199769,-1.5136428469171745,-1.5707806736097194,-0.4491360235400765,0.0029488129145609694,0.00015594199365050984,0.0032083894130121734,-0.003443444428993365,0.0029489622687746877,0.0001565592682002397,0.0032160193261220253,-0.003451473428334457,0.08123550790461503,0.4777356025221334,0.2998922445797833,0.99999999999945,-1.7695152970145977e-11,7.771725926096283e-13,1.0484555695024859e-06],"qvel":[-0.00018998101433422652,0.008985202124703764,-0.22034798321366791,0.20794243033109724,6.36600579901001e-07,-4.58600726457165e-08,-0.0002794704498151615,-4.443325369500161e-05,-0.00022327506676808793,0.00039883985465547883,-0.00025639683787068867,8.234803324751793e-06,2.9847013442938868e-05,0.0004099028129805608,-9.558793126835117e-13,-2.176455668850793e-11,1.2730896142409072e-14,6.601681566246806e-10,-2.8995752887282903e-11,1.8178881162698674e-20],"joint_position_rad":[-2.0199245206877197,-1.6329038052327602,1.5755665197199769,-1.5136428469171745,-1.5707806736097194,-0.4491360235400765],"joint_velocity_rad_s":[-0.00018998101433422652,0.008985202124703764,-0.22034798321366791,0.20794243033109724,6.36600579901001e-07,-4.58600726457165e-08],"linkage_position_rad":[0.0029488129145609694,0.00015594199365050984,0.0032083894130121734,-0.003443444428993365,0.0029489622687746877,0.0001565592682002397,0.0032160193261220253,-0.003451473428334457],"tcp_position_m":[0.08119004943765881,0.47708770570652975,0.3538628664647707],"tcp_quaternion_wxyz":[-3.771292568680267e-05,0.7071040094663787,0.7071095468802464,8.417314674502813e-05],"object_position_m":[0.08123550790461503,0.4777356025221334,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7695152970145977e-11,7.771725926096283e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-9.558793126835117e-13,-2.176455668850793e-11,1.2730896142409072e-14],"object_angular_velocity_rad_s":[6.601682174247459e-10,-2.8994368573257894e-11,1.8178895989763487e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313348096282281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199279622111312,-1.6400148752701145,1.5216826056349166,-1.4771158143682488,-1.570777545835421,-0.44913605421272446,0.0],"actuator_force":[0.06910935891073677,-17.816220924590198,-19.628634884653366,-2.5307267586468924,0.0015002270911281812,-1.0750316732810461e-05,-0.29220942272835354],"issued_joint_targets_rad":[-2.0199323175196295,-1.6304590937035564,1.5273932597993884,-1.4679537378310408,-1.57077866803439,-0.4491359887488588],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.639999999999542,"joint_targets_rad":[-2.0199323175196295,-1.6304590937035564,1.5273932597993884,-1.4679537378310408,-1.57077866803439,-0.4491359887488588],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.659999999999531,"qpos":[-2.019924429280245,-1.6326742439796391,1.5709942690517384,-1.50930262185201,-1.5707804633690505,-0.4491360208646991,0.002945951149069059,0.00015594294116480154,0.0032055478012072923,-0.003440726328193166,0.002946100684832371,0.00015656228982168896,0.00321318538381037,-0.00344875393087077,0.08123550790458811,0.47773560252152064,0.2998922445797833,0.99999999999945,-1.868075032321211e-11,8.204341477027449e-13,1.0484555695024859e-06],"qvel":[-0.00019324062187449153,0.009849759314117523,-0.2211973924299907,0.20794751031830816,3.658228545247124e-07,2.612932228487527e-07,-0.0002508520374227942,-4.448320440243289e-05,-0.0001937236225144611,0.00037197293338532664,-0.00022773375248096289,8.377487479597812e-06,6.001675979072234e-05,0.0003829845369422758,-1.0374695367897038e-12,-2.3623027712810144e-11,1.2730896142409072e-14,5.216215565335339e-10,-2.291074218575016e-11,3.3196742505768815e-20],"joint_position_rad":[-2.019924429280245,-1.6326742439796391,1.5709942690517384,-1.50930262185201,-1.5707804633690505,-0.4491360208646991],"joint_velocity_rad_s":[-0.00019324062187449153,0.009849759314117523,-0.2211973924299907,0.20794751031830816,3.658228545247124e-07,2.612932228487527e-07],"linkage_position_rad":[0.002945951149069059,0.00015594294116480154,0.0032055478012072923,-0.003440726328193166,0.002946100684832371,0.00015656228982168896,0.00321318538381037,-0.00344875393087077],"tcp_position_m":[0.08118855182554982,0.47708482026522153,0.35556847695679594],"tcp_quaternion_wxyz":[-3.821873668917542e-05,0.7071039779997842,0.7071095781842026,8.530162389366006e-05],"object_position_m":[0.08123550790458811,0.47773560252152064,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.868075032321211e-11,8.204341477027449e-13,1.0484555695024859e-06],"object_linear_velocity_m_s":[-1.0374695367897038e-12,-2.3623027712810144e-11,1.2730896142409072e-14],"object_angular_velocity_rad_s":[5.216216045741773e-10,-2.2909648391647533e-11,3.3196789468127097e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313373972331994,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199279005800292,-1.6396180101098787,1.5169436541268269,-1.4727744835522723,-1.5707773972736114,-0.4491359906989064,0.0],"actuator_force":[0.070353649181925,-17.827435986126147,-19.622272877826617,-2.5306818819618684,0.0014964654340019479,-1.1046425953509242e-05,-0.2922096627455527],"issued_joint_targets_rad":[-2.0199322616965047,-1.6300421105831522,1.5226336949244015,-1.46361191718455,-1.5707785193894819,-0.4491359330278071],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.659999999999531,"joint_targets_rad":[-2.0199322616965047,-1.6300421105831522,1.5226336949244015,-1.46361191718455,-1.5707785193894819,-0.4491359330278071],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.67999999999952,"qpos":[-2.019924343731874,-1.6324267920801703,1.566404402521161,-1.5049622473960351,-1.5707802588230653,-0.44913601306994516,0.0029436057591841363,0.00015594360829555306,0.003203220283749327,-0.0034384984236062242,0.0029437554763418043,0.00015656504074841555,0.0032108655363003447,-0.0034465246040391146,0.08123550790456195,0.4777356025209244,0.2998922445797833,0.99999999999945,-1.9303556684929172e-11,8.477647803262392e-13,1.048455569502486e-06],"qvel":[-0.00019650405921606924,0.010713289191243239,-0.2220497741396375,0.2079544593312284,1.278548213990285e-07,5.03246916616217e-07,-0.00022739799542226865,-4.453099266452674e-05,-0.00016930445558229975,0.0003500113088253401,-0.00020423453508667652,8.5245562958643e-06,8.506272794376318e-05,0.0003609716451028221,-1.144668715692704e-12,-2.6064621154992686e-11,1.2733671699970635e-14,2.8764618105149646e-10,-1.263437315868527e-11,6.060866222673755e-20],"joint_position_rad":[-2.019924343731874,-1.6324267920801703,1.566404402521161,-1.5049622473960351,-1.5707802588230653,-0.44913601306994516],"joint_velocity_rad_s":[-0.00019650405921606924,0.010713289191243239,-0.2220497741396375,0.2079544593312284,1.278548213990285e-07,5.03246916616217e-07],"linkage_position_rad":[0.0029436057591841363,0.00015594360829555306,0.003203220283749327,-0.0034384984236062242,0.0029437554763418043,0.00015656504074841555,0.0032108655363003447,-0.0034465246040391146],"tcp_position_m":[0.0811871062725126,0.4770820332030855,0.3572739278655688],"tcp_quaternion_wxyz":[-3.865187854250179e-05,0.7071039504289653,0.7071096056185535,8.623083144202827e-05],"object_position_m":[0.08123550790456195,0.4777356025209244,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9303556684929172e-11,8.477647803262392e-13,1.048455569502486e-06],"object_linear_velocity_m_s":[-1.144668715692704e-12,-2.6064621154992686e-11,1.2733671699970635e-14],"object_angular_velocity_rad_s":[2.8764620754402167e-10,-1.2633769990176346e-11,6.060871463489342e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313395144038382,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199278467076067,-1.6392036599105972,1.5121866623572655,-1.4684326307983613,-1.5707772479608804,-0.449135934974308,0.0],"actuator_force":[0.07159567222151964,-17.839051337351066,-19.615570671935984,-2.530637634285995,0.0014926456102557495,-1.127687309576686e-05,-0.29220989912375234],"issued_joint_targets_rad":[-2.0199322133010162,-1.6296074191962144,1.517855791497034,-1.4592694739770375,-1.5707783699231876,-0.44913588470296484],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.67999999999952,"joint_targets_rad":[-2.0199322133010162,-1.6296074191962144,1.517855791497034,-1.4592694739770375,-1.5707783699231876,-0.44913588470296484],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.699999999999509,"qpos":[-2.0199242640106987,-1.632161467493335,1.561796853058905,-1.5006216795457352,-1.5707800593473158,-0.44913600135734144,0.0029416835588249144,0.0001559440446773875,0.0032013140983457563,-0.0034366722491878305,0.002941833457397108,0.00015656757147286567,0.0032089670283245194,-0.0034446969861845885,0.08123550790453658,0.4777356025203474,0.2998922445797833,0.99999999999945,-1.9357241066067712e-11,8.501080241117012e-13,1.0484555695024867e-06],"qvel":[-0.00019977038852802222,0.011575986606089838,-0.22290541029813796,0.20796357242157143,-8.018920373607084e-08,6.880521453759753e-07,-0.0002081764595717587,-4.457712387377533e-05,-0.0001490897774773397,0.0003320703853123757,-0.00018496731650819587,8.67553915966165e-06,0.00010591278232438477,0.00034297960207324297,-1.3028244329973579e-12,-2.96664749088583e-11,1.2732283921189853e-14,-7.984248933405075e-11,3.5052491739425564e-12,1.1063557144125335e-19],"joint_position_rad":[-2.0199242640106987,-1.632161467493335,1.561796853058905,-1.5006216795457352,-1.5707800593473158,-0.44913600135734144],"joint_velocity_rad_s":[-0.00019977038852802222,0.011575986606089838,-0.22290541029813796,0.20796357242157143,-8.018920373607084e-08,6.880521453759753e-07],"linkage_position_rad":[0.0029416835588249144,0.0001559440446773875,0.0032013140983457563,-0.0034366722491878305,0.002941833457397108,0.00015656757147286567,0.0032089670283245194,-0.0034446969861845885],"tcp_position_m":[0.08118571449604803,0.47707934848581324,0.35897921849815784],"tcp_quaternion_wxyz":[-3.901941427377241e-05,0.7071039263168296,0.7071096296185498,8.698002997137306e-05],"object_position_m":[0.08123550790453658,0.4777356025203474,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9357241066067712e-11,8.501080241117012e-13,1.0484555695024867e-06],"object_linear_velocity_m_s":[-1.3028244329973579e-12,-2.96664749088583e-11,1.2732283921189853e-14],"object_angular_velocity_rad_s":[-7.984249668407119e-11,3.505081751329597e-12,1.1063562026352402e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313412460090793,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199278001932925,-1.6387718041858876,1.5074115072007646,-1.46409015378285,-1.5707770978437872,-0.4491358866464282,0.0],"actuator_force":[0.0728357902235075,-17.851068027541714,-19.60852759702584,-2.5305943607144172,0.0014887706846593574,-1.1449757892023626e-05,-0.2922101319307014],"issued_joint_targets_rad":[-2.019932171934137,-1.629154997328037,1.5130594233968244,-1.4549263047085927,-1.5707782195858535,-0.4491358433790912],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.699999999999509,"joint_targets_rad":[-2.019932171934137,-1.629154997328037,1.5130594233968244,-1.4549263047085927,-1.5707782195858535,-0.4491358433790912],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.719999999999498,"qpos":[-2.0199241900595224,-1.6318782843133424,1.5571715479966015,-1.4962808686094222,-1.5707798643724167,-0.4491359867753703,0.002940108178070242,0.00015594429095193554,0.0031997532224898955,-0.003435175303358903,0.0029402582582378775,0.0001565699234467574,0.003207413843743449,-0.003443198579128566,0.08123550790451096,0.4777356025197644,0.2998922445797833,0.99999999999945,-1.971400240160234e-11,8.657641527704353e-13,1.0484555695024878e-06],"qvel":[-0.00020303873093814188,0.012438036979448714,-0.223764570027453,0.20797512121352799,-2.6092490426471414e-07,8.23001098298556e-07,-0.00019242372853188477,-4.4622014442045386e-05,-0.0001323191975371951,0.00031742521037179505,-0.00016916838982272963,8.830056386618622e-06,0.00012332740014701926,0.00032828350221090515,-1.5770955493126835e-12,-3.5912489531073396e-11,1.272673280606673e-14,-6.082529951022285e-10,2.6711213414158366e-11,2.0199097494091848e-19],"joint_position_rad":[-2.0199241900595224,-1.6318782843133424,1.5571715479966015,-1.4962808686094222,-1.5707798643724167,-0.4491359867753703],"joint_velocity_rad_s":[-0.00020303873093814188,0.012438036979448714,-0.223764570027453,0.20797512121352799,-2.6092490426471414e-07,8.23001098298556e-07],"linkage_position_rad":[0.002940108178070242,0.00015594429095193554,0.0031997532224898955,-0.003435175303358903,0.0029402582582378775,0.0001565699234467574,0.003207413843743449,-0.003443198579128566],"tcp_position_m":[0.081184378283629,0.4770767702189103,0.36068434812495853],"tcp_quaternion_wxyz":[-3.932772860403203e-05,0.7071039052714583,0.7071096505742713,8.75666229074677e-05],"object_position_m":[0.08123550790451096,0.4777356025197644,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.971400240160234e-11,8.657641527704353e-13,1.0484555695024878e-06],"object_linear_velocity_m_s":[-1.5770955493126835e-12,-3.5912489531073396e-11,1.272673280606673e-14],"object_angular_velocity_rad_s":[-6.082530511119318e-10,2.670993796161886e-11,2.019910375608406e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313426616014481,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199277606342485,-1.63832242049125,1.5026180624928773,-1.4597469491198207,-1.5707769468707875,-0.44913584531998246,0.0],"actuator_force":[0.07407434292281323,-17.863487147594697,-19.601142996467388,-2.530552376552123,0.001484843304979222,-1.1572415900218402e-05,-0.2922103612236329],"issued_joint_targets_rad":[-2.0199321371921997,-1.6286848206745757,1.5082444613560368,-1.4505823048041944,-1.5707780683292545,-0.4491358086559583],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.719999999999498,"joint_targets_rad":[-2.0199321371921997,-1.6286848206745757,1.5082444613560368,-1.4505823048041944,-1.5707780683292545,-0.4491358086559583],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.739999999999487,"qpos":[-2.019924121796611,-1.6315772529431103,1.552528409302852,-1.491939759649558,-1.570779673378903,-0.4491359702336715,0.0029388170285501226,0.00015594438039199555,0.003198475352635648,-0.0034339481680784015,0.0029389672906412452,0.00015657213071004208,0.003206143684802113,-0.0034419699674255707,0.08123550790448635,0.47773560251920305,0.2998922445797833,0.99999999999945,-1.8428231589220087e-11,8.09285417499191e-13,1.0484555695024882e-06],"qvel":[-0.0002063082579761487,0.01329961751995993,-0.2246275112738088,0.20798935626942908,-4.167224538535168e-07,9.147098553168657e-07,-0.00017951391764097114,-4.466600800559557e-05,-0.00011836951374994599,0.0003054816662090433,-0.00015621186419124272,8.987803036619474e-06,0.00013792988006848593,0.00031628926335119175,-2.0220277947232876e-12,-4.604589430787832e-11,1.2723957248505166e-14,-1.3972621708937099e-09,6.135729875513476e-11,3.6878493953970455e-19],"joint_position_rad":[-2.019924121796611,-1.6315772529431103,1.552528409302852,-1.491939759649558,-1.570779673378903,-0.4491359702336715],"joint_velocity_rad_s":[-0.0002063082579761487,0.01329961751995993,-0.2246275112738088,0.20798935626942908,-4.167224538535168e-07,9.147098553168657e-07],"linkage_position_rad":[0.0029388170285501226,0.00015594438039199555,0.003198475352635648,-0.0034339481680784015,0.0029389672906412452,0.00015657213071004208,0.003206143684802113,-0.0034419699674255707],"tcp_position_m":[0.08118309949652713,0.4770743026578574,0.3623893159807974],"tcp_quaternion_wxyz":[-3.9582593037098874e-05,0.7071038869413714,0.7071096688353985,8.800633493909214e-05],"object_position_m":[0.08123550790448635,0.47773560251920305,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8428231589220087e-11,8.09285417499191e-13,1.0484555695024882e-06],"object_linear_velocity_m_s":[-2.0220277947232876e-12,-4.604589430787832e-11,1.2723957248505166e-14],"object_angular_velocity_rad_s":[-1.3972622995514401e-09,6.135436882038956e-11,3.68785148413699e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313438181812057,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927727623114,-1.6378554843562338,1.497806198937105,-1.4554029123361418,-1.5707767949919327,-0.4491358105947036,0.0],"actuator_force":[0.07531165018508545,-17.876309834230597,-19.59341622197053,-2.530511970234784,0.0014808657305138695,-1.1651501552023547e-05,-0.2922105870504073],"issued_joint_targets_rad":[-2.019932108664645,-1.6281968627721755,1.5034107728605575,-1.4462373685872396,-1.5707779161063355,-0.4491357801261443],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.739999999999487,"joint_targets_rad":[-2.019932108664645,-1.6281968627721755,1.5034107728605575,-1.4462373685872396,-1.5707779161063355,-0.4491357801261443],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.759999999999476,"qpos":[-2.019924059116232,-1.631258380244192,1.547867353787264,-1.487598292880135,-1.5707794858925654,-0.44913595251567284,0.0029377588164555568,0.0001559443402321491,0.0031974294285035077,-0.0034329421477974926,0.0029379092609327934,0.000156574221226495,0.003205105496511169,-0.0034409624574771413,0.08123550790446057,0.47773560251861624,0.2998922445797833,0.99999999999945,-1.7773441977168406e-11,7.805116261771655e-13,1.048455569502489e-06],"qvel":[-0.00020957818344284255,0.014160898351315062,-0.22549448233510924,0.208006509229569,-5.497287095551594e-07,9.691933309508706e-07,-0.00016893408888067816,-4.470938859854599e-05,-0.00010672995416742378,0.0002957528602168918,-0.00014558479486353676,9.14853564478746e-06,0.00015023109952714696,0.0003065100196261196,-9.540328339183382e-13,-2.172522147742942e-11,1.2723957248505166e-14,6.875344622645752e-10,-3.0194174565540173e-11,3.995376993342371e-20],"joint_position_rad":[-2.019924059116232,-1.631258380244192,1.547867353787264,-1.487598292880135,-1.5707794858925654,-0.44913595251567284],"joint_velocity_rad_s":[-0.00020957818344284255,0.014160898351315062,-0.22549448233510924,0.208006509229569,-5.497287095551594e-07,9.691933309508706e-07],"linkage_position_rad":[0.0029377588164555568,0.0001559443402321491,0.0031974294285035077,-0.0034329421477974926,0.0029379092609327934,0.000156574221226495,0.003205105496511169,-0.0034409624574771413],"tcp_position_m":[0.08118188007408944,0.47707195021915766,0.3640941212658487],"tcp_quaternion_wxyz":[-3.978922469482792e-05,0.7071038710112612,0.707109684715501,8.831337327232418e-05],"object_position_m":[0.08123550790446057,0.47773560251861624,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7773441977168406e-11,7.805116261771655e-13,1.048455569502489e-06],"object_linear_velocity_m_s":[-9.540328339183382e-13,-2.172522147742942e-11,1.2723957248505166e-14],"object_angular_velocity_rad_s":[6.875345255775641e-10,-3.0192732866801396e-11,3.995379579704659e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313447624616263,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199277007457384,-1.6373709692110299,1.4929757840057738,-1.4510579378461328,-1.5707766421585945,-0.4491357820631342,0.0],"actuator_force":[0.07654801436456182,-17.889537274201757,-19.58534662893635,-2.5304734059558314,0.0014768398564228846,-1.1693063783013713e-05,-0.2922108094506964],"issued_joint_targets_rad":[-2.0199320859317336,-1.6276910949206684,1.4985582220440583,-1.4418913892527763,-1.5707777628709694,-0.4491357573727684],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.759999999999476,"joint_targets_rad":[-2.0199320859317336,-1.6276910949206684,1.4985582220440583,-1.4418913892527763,-1.5707777628709694,-0.4491357573727684],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.779999999999465,"qpos":[-2.0199240018890308,-1.6309216696648159,1.543188293274956,-1.483256404023405,-1.5707793014801992,-0.4491359342897906,0.002936891504345181,0.00015594419275947,0.003196573604146819,-0.0034321173344963526,0.0029370421317941103,0.00015657621797812374,0.0032042574377748843,-0.0034401361426886034,0.08123550790443275,0.4777356025179825,0.2998922445797833,0.99999999999945,-1.902210493287811e-11,8.353110585461169e-13,1.0484555695024907e-06],"qvel":[-0.00021284775549766806,0.015022043561188445,-0.22636572327350946,0.20802679474811206,-6.618874167478352e-07,9.919332891149194e-07,-0.00016026386886638006,-4.475239153525904e-05,-9.698188706465036e-05,0.0002878397758810961,-0.00013686680120397735,9.312061306089054e-06,0.000160649803930493,0.00029854677249432075,-1.044394285589041e-12,-2.3783936948597913e-11,1.272812058484751e-14,5.746091028261294e-10,-2.5234659773341957e-11,7.295023026064646e-20],"joint_position_rad":[-2.0199240018890308,-1.6309216696648159,1.543188293274956,-1.483256404023405,-1.5707793014801992,-0.4491359342897906],"joint_velocity_rad_s":[-0.00021284775549766806,0.015022043561188445,-0.22636572327350946,0.20802679474811206,-6.618874167478352e-07,9.919332891149194e-07],"linkage_position_rad":[0.002936891504345181,0.00015594419275947,0.003196573604146819,-0.0034321173344963526,0.0029370421317941103,0.00015657621797812374,0.0032042574377748843,-0.0034401361426886034],"tcp_position_m":[0.08118072203853477,0.47706971749238286,0.36579876314636717],"tcp_quaternion_wxyz":[-3.995233951070686e-05,0.7071038571981755,0.7071096984958706,8.85005733719788e-05],"object_position_m":[0.08123550790443275,0.4777356025179825,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.902210493287811e-11,8.353110585461169e-13,1.0484555695024907e-06],"object_linear_velocity_m_s":[-1.044394285589041e-12,-2.3783936948597913e-11,1.272812058484751e-14],"object_angular_velocity_rad_s":[5.746091557397048e-10,-2.5233454869058172e-11,7.29502853130755e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313455327254484,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276795788768,-1.6368688463068697,1.4881266818342052,-1.4467119189258206,-1.5707764883232094,-0.4491357593083616,0.0],"actuator_force":[0.07778372250731991,-17.90317070858282,-19.57693357209837,-2.530436926018865,0.0014727672365779654,-1.170261438687703e-05,-0.29221102845661284],"issued_joint_targets_rad":[-2.019932068562204,-1.627167486099132,1.4936866695746542,-1.437544258840406,-1.570777608577731,-0.44913573996718836],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.779999999999465,"joint_targets_rad":[-2.019932068562204,-1.627167486099132,1.4936866695746542,-1.437544258840406,-1.570777608577731,-0.44913573996718836],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.799999999999454,"qpos":[-2.019923949962192,-1.6305671213474537,1.53849113475363,-1.4789140246298154,-1.570779119745747,-0.4491359161193385,0.002936180640759754,0.00015594395620681357,0.0031958735851545924,-0.0034314410219013058,0.002936331451878191,0.00015657813986284734,0.0032035652186487578,-0.0034394583177883137,0.0812355079044055,0.47773560251736197,0.2998922445797833,0.99999999999945,-1.9857543837447623e-11,8.719624230539404e-13,1.0484555695024926e-06],"qvel":[-0.00021611624907946268,0.015883212182771608,-0.22724146722760766,0.2080504122447242,-7.549574661288003e-07,9.879400218049226e-07,-0.00015315874491532406,-4.4795212316620686e-05,-8.878219212921447e-05,0.0002814154146268892,-0.00012971336277459766,9.47822881018034e-06,0.00016952923531196907,0.0002920725358321622,-1.1521279223272303e-12,-2.623848184911589e-11,1.2722569469724383e-14,3.6529017794550656e-10,-1.604236677142083e-11,1.3319784076937004e-19],"joint_position_rad":[-2.019923949962192,-1.6305671213474537,1.53849113475363,-1.4789140246298154,-1.570779119745747,-0.4491359161193385],"joint_velocity_rad_s":[-0.00021611624907946268,0.015883212182771608,-0.22724146722760766,0.2080504122447242,-7.549574661288003e-07,9.879400218049226e-07],"linkage_position_rad":[0.002936180640759754,0.00015594395620681357,0.0031958735851545924,-0.0034314410219013058,0.002936331451878191,0.00015657813986284734,0.0032035652186487578,-0.0034394583177883137],"tcp_position_m":[0.08117962750029499,0.4770676092533593,0.36750324075525526],"tcp_quaternion_wxyz":[-4.007620031657865e-05,0.7071038452480762,0.707109710428975,8.857953068782656e-05],"object_position_m":[0.0812355079044055,0.47773560251736197,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9857543837447623e-11,8.719624230539404e-13,1.0484555695024926e-06],"object_linear_velocity_m_s":[-1.1521279223272303e-12,-2.623848184911589e-11,1.2722569469724383e-14],"object_angular_velocity_rad_s":[3.6529021158412076e-10,-1.6041600790342444e-11,1.3319791091501696e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313461603463002,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276636878345,-1.636349084629487,1.4832587531074009,-1.4423647476867685,-1.5707763334390399,-0.44913574190171474,0.0],"actuator_force":[0.07901904834670859,-17.917211437174956,-19.568176401415258,-2.5304027529489304,0.0014686491001612012,-1.1685190287380465e-05,-0.2922112440934476],"issued_joint_targets_rad":[-2.0199320561108354,-1.6266260028734678,1.4887959725331472,-1.433195868206803,-1.5707774531816874,-0.44913572746658387],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.799999999999454,"joint_targets_rad":[-2.0199320561108354,-1.6266260028734678,1.4887959725331472,-1.433195868206803,-1.5707774531816874,-0.44913572746658387],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.819999999999443,"qpos":[-2.0199239031594223,-1.630194732217138,1.533775780495061,-1.4745710823646416,-1.570778940326784,-0.44913589847125446,0.0029355979912707867,0.00015594364548519334,0.003195301265918576,-0.00343088640585515,0.002935748986858858,0.00015658000242994375,0.003203000737656401,-0.0034389021792871526,0.08123550790437899,0.47773560251675906,0.2998922445797833,0.99999999999945,-2.0122940157773333e-11,8.835958430931491e-13,1.048455569502495e-06],"qvel":[-0.00021938295840896285,0.016744559119496245,-0.22812194163812052,0.20807754748986057,-8.30529518912998e-07,9.618086345016506e-07,-0.00014733637549695216,-4.483801392881313e-05,-8.184963189660021e-05,0.00027621180188835444,-0.00012384212979352956,9.646921414065476e-06,0.00017715076011820888,0.0002868193408674714,-1.3022127611434435e-12,-2.9657269640401916e-11,1.2722569469724383e-14,2.558313817333329e-11,-1.1249302240960892e-12,2.4322161038598226e-19],"joint_position_rad":[-2.0199239031594223,-1.630194732217138,1.533775780495061,-1.4745710823646416,-1.570778940326784,-0.44913589847125446],"joint_velocity_rad_s":[-0.00021938295840896285,0.016744559119496245,-0.22812194163812052,0.20807754748986057,-8.30529518912998e-07,9.618086345016506e-07],"linkage_position_rad":[0.0029355979912707867,0.00015594364548519334,0.003195301265918576,-0.00343088640585515,0.002935748986858858,0.00015658000242994375,0.003203000737656401,-0.0034389021792871526],"tcp_position_m":[0.08117859866397911,0.47706563047862843,0.3692075531924723],"tcp_quaternion_wxyz":[-4.016466031768602e-05,0.7071038349327505,0.707109720741552,8.856071970929266e-05],"object_position_m":[0.08123550790437899,0.47773560251675906,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0122940157773333e-11,8.835958430931491e-13,1.048455569502495e-06],"object_linear_velocity_m_s":[-1.3022127611434435e-12,-2.9657269640401916e-11,1.2722569469724383e-14],"object_angular_velocity_rad_s":[2.5583140532155742e-11,-1.1248765785262087e-12,2.4322167280246707e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313466710355381,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927652624014,-1.6358116508047837,1.4783718549383371,-1.4380163150494274,-1.5707761774599531,-0.44913572940034735,0.0],"actuator_force":[0.08025425418009036,-17.93166082309017,-19.559074458199575,-2.5303710913790383,0.0014644863674675435,-1.1645409898619619e-05,-0.2922114563800298],"issued_joint_targets_rad":[-2.0199320481158867,-1.6260666092948108,1.4838859842818373,-1.4288461069978313,-1.5707772966381957,-0.44913571941142594],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.819999999999443,"joint_targets_rad":[-2.0199320481158867,-1.6260666092948108,1.4838859842818373,-1.4288461069978313,-1.5707772966381957,-0.44913571941142594],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.839999999999431,"qpos":[-2.0199238612807355,-1.6298044960515186,1.5290421281525572,-1.4702275012644725,-1.5707787628913272,-0.4491358817237483,0.0029351204165668937,0.00015594327278358705,0.0031948336128174775,-0.003430431519245171,0.002935271597517871,0.00015658181848320622,0.0032025409650141834,-0.0034384457604524185,0.08123550790435352,0.4777356025161794,0.2998922445797833,0.99999999999945,-1.956082299426287e-11,8.588879904653092e-13,1.0484555695024969e-06],"qvel":[-0.0002226471895540718,0.01760623602305673,-0.22900736940000596,0.20810837403971635,-8.900410177722669e-07,9.177704558746164e-07,-0.00014256537104530918,-4.4880932713555144e-05,-7.595368295244229e-05,0.00027200933558753815,-0.00011902170396139646,9.818050765540705e-06,0.00018374503762537213,0.0002825675859725322,-1.5359887297846117e-12,-3.498295708759703e-11,1.2721181690943603e-14,-4.933486102505823e-10,2.1658544181516577e-11,4.440087073985724e-19],"joint_position_rad":[-2.0199238612807355,-1.6298044960515186,1.5290421281525572,-1.4702275012644725,-1.5707787628913272,-0.4491358817237483],"joint_velocity_rad_s":[-0.0002226471895540718,0.01760623602305673,-0.22900736940000596,0.20810837403971635,-8.900410177722669e-07,9.177704558746164e-07],"linkage_position_rad":[0.0029351204165668937,0.00015594327278358705,0.0031948336128174775,-0.003430431519245171,0.002935271597517871,0.00015658181848320622,0.0032025409650141834,-0.0034384457604524185],"tcp_position_m":[0.08117763783502657,0.47706378636136004,0.3709116995252896],"tcp_quaternion_wxyz":[-4.022120239156137e-05,0.7071038260470325,0.7071097296373897,8.84536015627516e-05],"object_position_m":[0.08123550790435352,0.4777356025161794,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.956082299426287e-11,8.588879904653092e-13,1.0484555695024969e-06],"object_linear_velocity_m_s":[-1.5359887297846117e-12,-3.498295708759703e-11,1.2721181690943603e-14],"object_angular_velocity_rad_s":[-4.9334865566554e-10,2.16575096732727e-11,4.440088721682288e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313470858640847,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927645922345,-1.6352565089956832,1.473465840736846,-1.4336665107160047,-1.5707760203402077,-0.44913572134470725,0.0],"actuator_force":[0.08148959260279298,-17.94652029755207,-19.549627071420673,-2.5303421297377326,0.0014602796616145497,-1.1587525051481862e-05,-0.29221166532920473],"issued_joint_targets_rad":[-2.0199320440963926,-1.625489266787615,1.4789565543227046,-1.4244948636202606,-1.570777138902713,-0.44913571532279484],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.839999999999431,"joint_targets_rad":[-2.0199320440963926,-1.625489266787615,1.4789565543227046,-1.4244948636202606,-1.570777138902713,-0.44913571532279484],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.85999999999942,"qpos":[-2.0199238241020403,-1.629396403533462,1.5242900708356864,-1.4658832019663925,-1.5707785871349302,-0.44913586617296114,0.0029347289529983002,0.00015594284806039186,0.0031944517489369798,-0.003430058359102028,0.002934880320290111,0.00015658359857555963,0.0032021670273888036,-0.0034380710584850653,0.08123550790432951,0.47773560251563313,0.2998922445797833,0.99999999999945,-1.7793367945234646e-11,7.812641552083994e-13,1.048455569502499e-06],"qvel":[-0.00022590825298586363,0.018468392134754485,-0.22989796995358636,0.2081430545352015,-9.34789789935942e-07,8.597402206673146e-07,-0.0001386560994751265,-4.492408351314918e-05,-7.090538234308134e-05,0.0002686280580346437,-0.00011506244395150183,9.991552171226626e-06,0.00018950117348468843,0.000279137309454555,-1.9231284570142117e-12,-4.380083712101687e-11,1.272673280606673e-14,-1.2597430323421767e-09,5.531161604553807e-11,8.106620541941825e-19],"joint_position_rad":[-2.0199238241020403,-1.629396403533462,1.5242900708356864,-1.4658832019663925,-1.5707785871349302,-0.44913586617296114],"joint_velocity_rad_s":[-0.00022590825298586363,0.018468392134754485,-0.22989796995358636,0.2081430545352015,-9.34789789935942e-07,8.597402206673146e-07],"linkage_position_rad":[0.0029347289529983002,0.00015594284806039186,0.0031944517489369798,-0.003430058359102028,0.002934880320290111,0.00015658359857555963,0.0032021670273888036,-0.0034380710584850653],"tcp_position_m":[0.08117674742713449,0.477062082328915,0.3726156787884045],"tcp_quaternion_wxyz":[-4.0248974620530614e-05,0.7071038184063023,0.7071097372998287,8.826672126327998e-05],"object_position_m":[0.08123550790432951,0.47773560251563313,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7793367945234646e-11,7.812641552083994e-13,1.048455569502499e-06],"object_linear_velocity_m_s":[-1.9231284570142117e-12,-4.380083712101687e-11,1.272673280606673e-14],"object_angular_velocity_rad_s":[-1.25974314832295e-09,5.530897447621963e-11,8.106621255672057e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313474220998572,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927643098568,-1.6346836207890079,1.4685405600678854,-1.4293152231428556,-1.5707758620342542,-0.4491357172558538,0.0],"actuator_force":[0.08272530813837875,-17.961791364993587,-19.539833554167217,-2.5303160417516892,0.0014560293169552097,-1.151546837263595e-05,-0.2922118709472874],"issued_joint_targets_rad":[-2.0199320435492614,-1.624893934026013,1.4740075281435305,-1.4201420252130352,-1.5707769799306124,-0.4491357146995006],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.85999999999942,"joint_targets_rad":[-2.0199320435492614,-1.624893934026013,1.4740075281435305,-1.4201420252130352,-1.5707769799306124,-0.4491357146995006],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.87999999999941,"qpos":[-2.0199237913745125,-1.6289704422867666,1.5195194971633124,-1.4615381019124398,-1.570778412778034,-0.44913585203871115,0.0029344080590440616,0.0001559423794461886,0.003194140203959503,-0.003429752171243318,0.002934559613731404,0.00015658535141430677,0.0032018634578223895,-0.0034377633191849223,0.08123550790430493,0.47773560251507347,0.2998922445797833,0.99999999999945,-1.6872437269309454e-11,7.40821193786096e-13,1.048455569502502e-06],"qvel":[-0.00022916545599327627,0.019331175100285643,-0.23079396032714738,0.20818174187816263,-9.65946383607403e-07,7.913596361985433e-07,-0.0001354531507698032,-4.496756347977414e-05,-6.654982555700171e-05,0.0002659205031962626,-0.00011180893000032013,1.0167380586957045e-05,0.0001945742218274246,0.00027638103691873366,-9.087827522459945e-13,-2.0698260523617003e-11,1.2721181690943603e-14,6.631301644348111e-10,-2.9117121668325685e-11,8.782988818217735e-20],"joint_position_rad":[-2.0199237913745125,-1.6289704422867666,1.5195194971633124,-1.4615381019124398,-1.570778412778034,-0.44913585203871115],"joint_velocity_rad_s":[-0.00022916545599327627,0.019331175100285643,-0.23079396032714738,0.20818174187816263,-9.65946383607403e-07,7.913596361985433e-07],"linkage_position_rad":[0.0029344080590440616,0.0001559423794461886,0.003194140203959503,-0.003429752171243318,0.002934559613731404,0.00015658535141430677,0.0032018634578223895,-0.0034377633191849223],"tcp_position_m":[0.08117592997055147,0.4770605240622858,0.3743194899839126],"tcp_quaternion_wxyz":[-4.025082241465622e-05,0.7071038118442315,0.7071097438940125,8.800779560523633e-05],"object_position_m":[0.08123550790430493,0.47773560251507347,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6872437269309454e-11,7.40821193786096e-13,1.048455569502502e-06],"object_linear_velocity_m_s":[-9.087827522459945e-13,-2.0698260523617003e-11,1.2721181690943603e-14],"object_angular_velocity_rad_s":[6.631302254893695e-10,-2.9115731143233234e-11,8.782989653291839e-20],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313476938940587,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276436463234,-1.6340929450709638,1.4635958584977697,-1.4249623395123632,-1.5707757024965425,-0.4491357166325782,0.0],"actuator_force":[0.08396163877569052,-17.977475608508485,-19.52969320022612,-2.530292987777898,0.0014517353839664793,-1.143289713922968e-05,-0.29221207323492265],"issued_joint_targets_rad":[-2.0199320459461427,-1.624280566796811,1.469038747050321,-1.4157874776181378,-1.5707768196770024,-0.44913571701497024],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.87999999999941,"joint_targets_rad":[-2.0199320459461427,-1.624280566796811,1.469038747050321,-1.4157874776181378,-1.5707768196770024,-0.44913571701497024],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.899999999999398,"qpos":[-2.019923762823744,-1.6285265968953775,1.5147302912957339,-1.4571921155316563,-1.5707782395635632,-0.4491358394693905,0.00293414499775999,0.0001559418735735963,0.003193886299418261,-0.0034295008640043583,0.002934296740966964,0.00015658708419346348,0.0032016175810118484,-0.0034375104507170435,0.08123550790427868,0.4777356025144764,0.2998922445797833,0.99999999999945,-1.787733956927214e-11,7.849487570809253e-13,1.0484555695025064e-06],"qvel":[-0.0002324180949014558,0.02019473176825205,-0.23169555614323095,0.20822458029636307,-9.84565168470591e-07,7.160378374765423e-07,-0.0001328291615636829,-4.501145553010819e-05,-6.27600179079125e-05,0.00026376583417593477,-0.00010913378845550442,1.0345507441703435e-05,0.00019909133337546033,0.0002741779185200872,-9.831182774660027e-13,-2.2391202006587274e-11,1.2723957248505168e-14,5.466567980778003e-10,-2.4002557627659486e-11,1.6035845806187895e-19],"joint_position_rad":[-2.019923762823744,-1.6285265968953775,1.5147302912957339,-1.4571921155316563,-1.5707782395635632,-0.4491358394693905],"joint_velocity_rad_s":[-0.0002324180949014558,0.02019473176825205,-0.23169555614323095,0.20822458029636307,-9.84565168470591e-07,7.160378374765423e-07],"linkage_position_rad":[0.00293414499775999,0.0001559418735735963,0.003193886299418261,-0.0034295008640043583,0.002934296740966964,0.00015658708419346348,0.0032016175810118484,-0.0034375104507170435],"tcp_position_m":[0.0811751881213571,0.4770591175176786,0.3760231320811388],"tcp_quaternion_wxyz":[-4.022931754922314e-05,0.7071038062107508,0.7071097495689217,8.768379259304932e-05],"object_position_m":[0.08123550790427868,0.4777356025144764,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.787733956927214e-11,7.849487570809253e-13,1.0484555695025064e-06],"object_linear_velocity_m_s":[-9.831182774660027e-13,-2.2391202006587274e-11,1.2723957248505168e-14],"object_angular_velocity_rad_s":[5.466568484078286e-10,-2.4001411336877597e-11,1.6035844612782216e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313479128436417,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927647034008,-1.6334844378895865,1.458631577426718,-1.4206077457043484,-1.570775541681333,-0.4491357189482907,0.0],"actuator_force":[0.08519881743222868,-17.993574695718962,-19.519205280739243,-2.530273115982368,0.0014473976319777648,-1.1343233808247533e-05,-0.29221227218625173],"issued_joint_targets_rad":[-2.0199320507300103,-1.6236491178471701,1.4640500479840721,-1.411431105351048,-1.5707766580965508,-0.44913572171385086],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.899999999999398,"joint_targets_rad":[-2.0199320507300103,-1.6236491178471701,1.4640500479840721,-1.411431105351048,-1.5707766580965508,-0.44913572171385086],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.919999999999387,"qpos":[-2.01992373814866,-1.6280648489062521,1.5099223329464522,-1.4528451544018448,-1.5707780672547287,-0.44913582854606954,0.0029339293306686817,0.00015594133584752204,0.003193679644883792,-0.003429294527754442,0.0029340812635819213,0.0001565888028664692,0.003201419009524291,-0.0034373025431652863,0.08123550790425149,0.4777356025138573,0.2998922445797833,0.99999999999945,-1.957634416520573e-11,8.595649015080388e-13,1.048455569502512e-06],"qvel":[-0.00023566544685841732,0.021059208983187784,-0.23260297260118876,0.20827170630781955,-9.915943868319248e-07,6.369892745968827e-07,-0.0001306797540723627,-4.5055831055577716e-05,-5.943183592805537e-05,0.0002620650396765338,-0.00010693263068036079,1.0525917957600957e-05,0.00020315679448944845,0.0002724289253755383,-1.1147770997447586e-12,-2.5389280374446498e-11,1.272534502728595e-14,3.87766209608639e-10,-1.702604733199788e-11,2.9276541758133096e-19],"joint_position_rad":[-2.01992373814866,-1.6280648489062521,1.5099223329464522,-1.4528451544018448,-1.5707780672547287,-0.44913582854606954],"joint_velocity_rad_s":[-0.00023566544685841732,0.021059208983187784,-0.23260297260118876,0.20827170630781955,-9.915943868319248e-07,6.369892745968827e-07],"linkage_position_rad":[0.0029339293306686817,0.00015594133584752204,0.003193679644883792,-0.003429294527754442,0.0029340812635819213,0.0001565888028664692,0.003201419009524291,-0.0034373025431652863],"tcp_position_m":[0.08117452467186581,0.4770578689505501,0.3777266040163353],"tcp_quaternion_wxyz":[-4.0186784419671977e-05,0.7071038013702107,0.7071097544592027,8.730100322636688e-05],"object_position_m":[0.08123550790425149,0.4777356025138573,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.957634416520573e-11,8.595649015080388e-13,1.048455569502512e-06],"object_linear_velocity_m_s":[-1.1147770997447586e-12,-2.5389280374446498e-11,1.272534502728595e-14],"object_angular_velocity_rad_s":[3.8776624530989455e-10,-1.7025234220676178e-11,2.9276539671004385e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313480884522375,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276527013525,-1.632858052302196,1.4536475539057638,-1.4162513262670227,-1.570775379542513,-0.4491357236476233,0.0],"actuator_force":[0.08643707335795625,-18.01009038516304,-19.508369040901016,-2.5302565633709264,0.0014430155465561256,-1.1249704300553276e-05,-0.29221246778876653],"issued_joint_targets_rad":[-2.019932057311414,-1.6229995367146015,1.4590412633195409,-1.407072791570834,-1.5707764951433048,-0.44913572820827924],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.919999999999387,"joint_targets_rad":[-2.019932057311414,-1.6229995367146015,1.4590412633195409,-1.407072791570834,-1.5707764951433048,-0.44913572820827924],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.939999999999376,"qpos":[-2.0199237170201654,-1.627585176815792,1.505095497373825,-1.4484971273929323,-1.5707778956330278,-0.4491358192858506,0.0029337525029806606,0.00015594077066648416,0.00319351172506734,-0.0034291250411334915,0.0029339046268428487,0.00015659051236959878,0.003201259230924678,-0.0034371314747790272,0.08123550790422454,0.47773560251324365,0.2998922445797833,0.99999999999945,-2.044710987457068e-11,8.977853627335112e-13,1.0484555695025176e-06],"qvel":[-0.00023890676126520736,0.021924754384703753,-0.23351642544904488,0.2083232495939054,-9.878851641139785e-07,5.57269494009284e-07,-0.00012891938835854388,-4.5100752133479276e-05,-5.6479896687717024e-05,0.0002607369968387864,-0.00010511990527765313,1.0708609099980116e-05,0.00020685615764139413,0.00027105291284499104,-1.2788696137719202e-12,-2.912709452696601e-11,1.2732283921189855e-14,9.849763507524422e-11,-4.326068700529557e-12,5.345193552314579e-19],"joint_position_rad":[-2.0199237170201654,-1.627585176815792,1.505095497373825,-1.4484971273929323,-1.5707778956330278,-0.4491358192858506],"joint_velocity_rad_s":[-0.00023890676126520736,0.021924754384703753,-0.23351642544904488,0.2083232495939054,-9.878851641139785e-07,5.57269494009284e-07],"linkage_position_rad":[0.0029337525029806606,0.00015594077066648416,0.00319351172506734,-0.0034291250411334915,0.0029339046268428487,0.00015659051236959878,0.003201259230924678,-0.0034371314747790272],"tcp_position_m":[0.08117394256230523,0.4770567849424683,0.37942990469223625],"tcp_quaternion_wxyz":[-4.012532377569859e-05,0.7071037971997188,0.7071097586868323,8.686510637050395e-05],"object_position_m":[0.08123550790422454,0.47773560251324365,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.044710987457068e-11,8.977853627335112e-13,1.0484555695025176e-06],"object_linear_velocity_m_s":[-1.2788696137719202e-12,-2.912709452696601e-11,1.2732283921189855e-14],"object_angular_velocity_rad_s":[9.849764414640924e-11,-4.3258621597318885e-12,5.345194027341717e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313482285079328,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276600556635,-1.6322137382054944,1.4486436204356852,-1.4118929643875204,-1.5707752160334114,-0.44913573014269925,0.0],"actuator_force":[0.0876766335100001,-18.027024533286294,-19.497183696661978,-2.530243456684616,0.00143858832461774,-1.1155373698557014e-05,-0.29221266002299445],"issued_joint_targets_rad":[-2.019932065064322,-1.6223317695364687,1.4540122206432353,-1.4027124180499366,-1.5707763307705152,-0.44913573587374217],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.939999999999376,"joint_targets_rad":[-2.019932065064322,-1.6223317695364687,1.4540122206432353,-1.4027124180499366,-1.5707763307705152,-0.44913573587374217],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.959999999999365,"qpos":[-2.0199236990795084,-1.6270875560395037,1.5002496553525941,-1.44414794079367,-1.5707777244964183,-0.44913581164450656,0.002933607503665385,0.0001559401816038772,0.003193375561435851,-0.0034289857483508616,0.0029337598197690844,0.00015659221680507438,0.0032011312694096797,-0.0034369905892828365,0.08123550790419821,0.47773560251264424,0.2998922445797833,0.99999999999945,-2.0336461570854285e-11,8.929080471236956e-13,1.0484555695025242e-06],"qvel":[-0.0002421412504630158,0.022791517225404664,-0.23443613195865573,0.20837933378960027,-9.741996320494524e-07,4.798093733971772e-07,-0.00012747796314916516,-4.514627347291482e-05,-5.3834173106798664e-05,0.00025971524427771567,-0.00010362549885219084,1.0893587934629318e-05,0.00021025962675596456,0.00026998339346016636,-1.5081129517094346e-12,-3.4349256531217586e-11,1.2732283921189855e-14,-3.7279270755735166e-10,1.6366067181355613e-11,9.758512787859476e-19],"joint_position_rad":[-2.0199236990795084,-1.6270875560395037,1.5002496553525941,-1.44414794079367,-1.5707777244964183,-0.44913581164450656],"joint_velocity_rad_s":[-0.0002421412504630158,0.022791517225404664,-0.23443613195865573,0.20837933378960027,-9.741996320494524e-07,4.798093733971772e-07],"linkage_position_rad":[0.002933607503665385,0.0001559401816038772,0.003193375561435851,-0.0034289857483508616,0.0029337598197690844,0.00015659221680507438,0.0032011312694096797,-0.0034369905892828365],"tcp_position_m":[0.08117344489396827,0.47705587243122655,0.3811330329774738],"tcp_quaternion_wxyz":[-4.0046834178145446e-05,0.7071037935876217,0.7071097623626252,8.638122737847848e-05],"object_position_m":[0.08123550790419821,0.47773560251264424,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0336461570854285e-11,8.929080471236956e-13,1.0484555695025242e-06],"object_linear_velocity_m_s":[-1.5081129517094346e-12,-3.4349256531217586e-11,1.2732283921189855e-14],"object_angular_velocity_rad_s":[-3.727927418747204e-10,1.6365285468138602e-11,9.758513781382445e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931348339392856,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927668467659,-1.6315514421455004,1.4436196047451737,-1.4075325418620797,-1.5707750511066152,-0.44913573780899335,0.0],"actuator_force":[0.0889177238841512,-18.044379102155744,-19.485648431378195,-2.530233913164807,0.001434114864878211,-1.1063180750170432e-05,-0.29221284886171667],"issued_joint_targets_rad":[-2.0199320733214865,-1.6216457588355622,1.4489627425072735,-1.3983498651437216,-1.5707761649304464,-0.4491357440444577],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.959999999999365,"joint_targets_rad":[-2.0199320733214865,-1.6216457588355622,1.4489627425072735,-1.3983498651437216,-1.5707761649304464,-0.4491357440444577],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.979999999999354,"qpos":[-2.019923683936325,-1.626571958864267,1.495384673124942,-1.4397974984232298,-1.570777553657649,-0.4491358055184253,0.0029334885868650224,0.00015593957155659704,0.0031932654348866044,-0.0034288711947018822,0.002933641096546757,0.00015659391959136837,0.0032010294085037085,-0.00343687443141205,0.08123550790417307,0.47773560251207164,0.2998922445797833,0.99999999999945,-1.89730459639427e-11,8.330251726724081e-13,1.0484555695025305e-06],"qvel":[-0.00024536807968808576,0.023659649221863192,-0.23536231191934104,0.20844007719833083,-9.512181579281785e-07,4.074482719268795e-07,-0.00012629803010584512,-4.5192443957584254e-05,-5.143721915424481e-05,0.0002589453399027567,-0.00010239195022113445,1.1080870194388964e-05,0.00021342483160837644,0.0002691658925068642,-1.868540873115956e-12,-4.256042339215924e-11,1.2735059478751419e-14,-1.088248735168136e-09,4.777549270294675e-11,1.7816403175294485e-18],"joint_position_rad":[-2.019923683936325,-1.626571958864267,1.495384673124942,-1.4397974984232298,-1.570777553657649,-0.4491358055184253],"joint_velocity_rad_s":[-0.00024536807968808576,0.023659649221863192,-0.23536231191934104,0.20844007719833083,-9.512181579281785e-07,4.074482719268795e-07],"linkage_position_rad":[0.0029334885868650224,0.00015593957155659704,0.0031932654348866044,-0.0034288711947018822,0.002933641096546757,0.00015659391959136837,0.0032010294085037085,-0.00343687443141205],"tcp_position_m":[0.08117303494406057,0.4770551387447306,0.38283598770584315],"tcp_quaternion_wxyz":[-3.995303139795668e-05,0.7071037904321249,0.7071097655876124,8.585399106020299e-05],"object_position_m":[0.08123550790417307,0.47773560251207164,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.89730459639427e-11,8.330251726724081e-13,1.0484555695025305e-06],"object_linear_velocity_m_s":[-1.868540873115956e-12,-4.256042339215924e-11,1.2735059478751419e-14],"object_angular_velocity_rad_s":[-1.0882488353467054e-09,4.77732107419469e-11,1.781640544851691e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484263369017,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276772668293,-1.6308711071039035,1.4385753295448875,-1.40316993906595,-1.5707748847137755,-0.4491357459807129,0.0],"actuator_force":[0.09016057086637375,-18.06215616801819,-19.473762392372464,-2.5302280411931406,0.001429593752504843,-1.0975971008519991e-05,-0.29221303426895406],"issued_joint_targets_rad":[-2.0199320813692356,-1.6209414432776055,1.4438926461550472,-1.3939850117599117,-1.570775997574186,-0.4491357520081848],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.979999999999354,"joint_targets_rad":[-2.0199320813692356,-1.6209414432776055,1.4438926461550472,-1.3939850117599117,-1.570775997574186,-0.4491357520081848],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":10.999999999999343,"qpos":[-2.0199236711663167,-1.626038354382251,1.4905004123304004,-1.435445701729132,-1.570777382942734,-0.44913580074587284,0.0029333910435806404,0.00015593894286616378,0.0031931766584684398,-0.0034287769098235426,0.002933543748215176,0.00015659562358639887,0.0032009489637976345,-0.0034367785301702286,0.0812355079041485,0.47773560251151226,0.2998922445797833,0.99999999999945,-1.717603888444363e-11,7.541060158204837e-13,1.0484555695025375e-06],"qvel":[-0.0002485863559962035,0.024529305454884225,-0.23629518866704596,0.2085055934380238,-9.195457887830929e-07,3.429666231520003e-07,-0.00012533251075644175,-4.523930784288422e-05,-4.924189539487326e-05,0.0002583826932359126,-0.00010137216727124069,1.1270479339601618e-05,0.00021639910339724076,0.0002685557821597156,-9.227902730708796e-13,-2.10185212867839e-11,1.2732283921189855e-14,7.044998766662761e-10,-3.093236241610643e-11,1.9302668362538277e-19],"joint_position_rad":[-2.0199236711663167,-1.626038354382251,1.4905004123304004,-1.435445701729132,-1.570777382942734,-0.44913580074587284],"joint_velocity_rad_s":[-0.0002485863559962035,0.024529305454884225,-0.23629518866704596,0.2085055934380238,-9.195457887830929e-07,3.429666231520003e-07],"linkage_position_rad":[0.0029333910435806404,0.00015593894286616378,0.0031931766584684398,-0.0034287769098235426,0.002933543748215176,0.00015659562358639887,0.0032009489637976345,-0.0034367785301702286],"tcp_position_m":[0.08117271618251674,0.47705459163927005,0.3845387676754179],"tcp_quaternion_wxyz":[-3.984546595333268e-05,0.7071037876400245,0.7071097684543043,8.528756954276653e-05],"object_position_m":[0.0812355079041485,0.47773560251151226,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.717603888444363e-11,7.541060158204837e-13,1.0484555695025375e-06],"object_linear_velocity_m_s":[-9.227902730708796e-13,-2.10185212867839e-11,1.2732283921189855e-14],"object_angular_velocity_rad_s":[7.04499941527142e-10,-3.09308851423996e-11,1.9302671393177586e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484936256683,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276857362234,-1.6301726722567171,1.4335106122533259,-1.3988050349231387,-1.5707747168054107,-0.4491357539456073,0.0],"actuator_force":[0.09140540258476904,-18.080357930886294,-19.46152468733044,-2.5302259408057353,0.0014250232405856877,-1.0896529545334488e-05,-0.2922132161996524],"issued_joint_targets_rad":[-2.019932088441584,-1.6202187573955975,1.438801743213732,-1.389617735328053,-1.5707758286514368,-0.4491357590003526],"issued_gripper_0_255":0.0,"command":{"t_seconds":10.999999999999343,"joint_targets_rad":[-2.019932088441584,-1.6202187573955975,1.438801743213732,-1.389617735328053,-1.5707758286514368,-0.4491357590003526],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.019999999999332,"qpos":[-2.0199236603085233,-1.6254867084051474,1.4855967299135382,-1.4310924498727964,-1.570777212189553,-0.4491357971075766,0.002933311014559171,0.00015593829741838514,0.003193105391111767,-0.0034286992300680786,0.002933463915553842,0.00015659733118839788,0.0032008860966971924,-0.0034366992212053397,0.08123550790412114,0.47773560251088937,0.2998922445797833,0.99999999999945,-1.8302271044276952e-11,8.035400473064881e-13,1.0484555695025485e-06],"qvel":[-0.0002517951159145369,0.02540064533821555,-0.23723499016863797,0.2085759920240286,-8.797179420418011e-07,2.891185339967633e-07,-0.00012454282563737344,-4.528690602758088e-05,-4.720950460778573e-05,0.00025799079021438507,-0.0001005275559976547,1.1462445744962928e-05,0.0002192213390686439,0.0002681165044909198,-9.983961354049489e-13,-2.2740986942485222e-11,1.2730896142409075e-14,6.030954367456887e-10,-2.6479436453775884e-11,3.5241468121779077e-19],"joint_position_rad":[-2.0199236603085233,-1.6254867084051474,1.4855967299135382,-1.4310924498727964,-1.570777212189553,-0.4491357971075766],"joint_velocity_rad_s":[-0.0002517951159145369,0.02540064533821555,-0.23723499016863797,0.2085759920240286,-8.797179420418011e-07,2.891185339967633e-07],"linkage_position_rad":[0.002933311014559171,0.00015593829741838514,0.003193105391111767,-0.0034286992300680786,0.002933463915553842,0.00015659733118839788,0.0032008860966971924,-0.0034366992212053397],"tcp_position_m":[0.08117249229110796,0.4770542393429145,0.38624137164749456],"tcp_quaternion_wxyz":[-3.972553896513204e-05,0.7071037851255301,0.7071097710478599,8.468572550983074e-05],"object_position_m":[0.08123550790412114,0.47773560251088937,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8302271044276952e-11,8.035400473064881e-13,1.0484555695025485e-06],"object_linear_velocity_m_s":[-9.983961354049489e-13,-2.2740986942485222e-11,1.2730896142409075e-14],"object_angular_velocity_rad_s":[6.030954922693876e-10,-2.6478171816178454e-11,3.524147030020424e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485447708719,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276931065526,-1.6294560727001588,1.4284252646895685,-1.3944377068761598,-1.570774547330695,-0.44913576093909713,0.0],"actuator_force":[0.09265245030701408,-18.098986725308805,-19.448934380483934,-2.5302277040846093,0.0014204012230720764,-1.0827613664332603e-05,-0.2922133945974755],"issued_joint_targets_rad":[-2.0199320937135328,-1.6194776312747399,1.4336898393475785,-1.3852479117692125,-1.5707756581102965,-0.44913576419737233],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.019999999999332,"joint_targets_rad":[-2.0199320937135328,-1.6194776312747399,1.4336898393475785,-1.3852479117692125,-1.5707756581102965,-0.44913576419737233],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.03999999999932,"qpos":[-2.0199236508621112,-1.6249169833569312,1.4806734780078847,-1.426737639803914,-1.570777041246565,-0.4491357943266145,0.0029332453369459413,0.00015593763672477388,0.00319304848497562,-0.003428635152922378,0.002933398435734978,0.00015659904441865928,0.003200837661783903,-0.0034366335012253973,0.08123550790409446,0.47773560251028185,0.2998922445797833,0.99999999999945,-1.9136795071918336e-11,8.401647645561818e-13,1.0484555695025612e-06],"qvel":[-0.0002549933116168063,0.026273833678385858,-0.23818195018416824,0.20865137889387783,-8.322053594379435e-07,2.486650000484805e-07,-0.00012389736096611974,-4.5335276870255555e-05,-4.5308262762398056e-05,0.00025773974033180795,-9.982648707723892e-05,1.1656806085446076e-05,0.00022192353102579786,0.0002678181170375215,-1.0912234993075439e-12,-2.485581339972235e-11,1.2736447257532202e-14,4.203526858857651e-10,-1.845588775611786e-11,6.43418101444213e-19],"joint_position_rad":[-2.0199236508621112,-1.6249169833569312,1.4806734780078847,-1.426737639803914,-1.570777041246565,-0.4491357943266145],"joint_velocity_rad_s":[-0.0002549933116168063,0.026273833678385858,-0.23818195018416824,0.20865137889387783,-8.322053594379435e-07,2.486650000484805e-07],"linkage_position_rad":[0.0029332453369459413,0.00015593763672477388,0.00319304848497562,-0.003428635152922378,0.002933398435734978,0.00015659904441865928,0.003200837661783903,-0.0034366335012253973],"tcp_position_m":[0.08117236718523839,0.4770540906049327,0.38794379834536363],"tcp_quaternion_wxyz":[-3.9594516490882073e-05,0.7071037828091685,0.7071097734471813,8.405185126397917e-05],"object_position_m":[0.08123550790409446,0.47773560251028185,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9136795071918336e-11,8.401647645561818e-13,1.0484555695025612e-06],"object_linear_velocity_m_s":[-1.0912234993075439e-12,-2.485581339972235e-11,1.2736447257532202e-14],"object_angular_velocity_rad_s":[4.203527245851972e-10,-1.8455006313847927e-11,6.434181265967013e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485826500092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927698549487,-1.6287212391375478,1.4233190927268133,-1.3900678308559793,-1.5707743762372335,-0.4491357661375863,0.0],"actuator_force":[0.09390194989464362,-18.11804503258736,-19.435990488475454,-2.5302334154205255,0.00141572520169575,-1.0771985927249261e-05,-0.29221356939382914],"issued_joint_targets_rad":[-2.0199320962933838,-1.6187179901901907,1.4285567338644583,-1.3808754154661727,-1.5707754858970118,-0.44913576670897354],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.03999999999932,"joint_targets_rad":[-2.0199320962933838,-1.6187179901901907,1.4285567338644583,-1.3808754154661727,-1.5707754858970118,-0.44913576670897354],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.05999999999931,"qpos":[-2.0199236422826217,-1.6243291381428102,1.4757305037939996,-1.4223811663247363,-1.5707768699716225,-0.4491357920675854,0.002933191418609188,0.0001559369619887825,0.003193003360333212,-0.003428582217705618,0.0029333447166479017,0.000156600764989252,0.0032008010817176696,-0.0034365789086996984,0.08123550790406857,0.47773560250969194,0.2998922445797833,0.99999999999945,-1.9509664418480255e-11,8.565129389613527e-13,1.048455569502575e-06],"qvel":[-0.00025817979510740313,0.027149041853258924,-0.23913630953449605,0.20873185687793036,-7.774183715991247e-07,2.244084262472771e-07,-0.00012337021217324572,-4.538445706939388e-05,-4.351204567109041e-05,0.00025760508406108253,-9.92430392515597e-05,1.1853603067902487e-05,0.00022453202151116709,0.00026763610008999643,-1.2204980965092708e-12,-2.7801275135295725e-11,1.2733671699970638e-14,1.2391924006532367e-10,-5.4419643221767825e-12,1.174721419057642e-18],"joint_position_rad":[-2.0199236422826217,-1.6243291381428102,1.4757305037939996,-1.4223811663247363,-1.5707768699716225,-0.4491357920675854],"joint_velocity_rad_s":[-0.00025817979510740313,0.027149041853258924,-0.23913630953449605,0.20873185687793036,-7.774183715991247e-07,2.244084262472771e-07],"linkage_position_rad":[0.002933191418609188,0.0001559369619887825,0.003193003360333212,-0.003428582217705618,0.0029333447166479017,0.000156600764989252,0.0032008010817176696,-0.0034365789086996984],"tcp_position_m":[0.08117234503891207,0.4770541547523117,0.38964604645288403],"tcp_quaternion_wxyz":[-3.945354248663704e-05,0.707103780616747,0.7071097757259438,8.33890040098884e-05],"object_position_m":[0.08123550790406857,0.47773560250969194,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9509664418480255e-11,8.565129389613527e-13,1.048455569502575e-06],"object_linear_velocity_m_s":[-1.2204980965092708e-12,-2.7801275135295725e-11,1.2733671699970638e-14],"object_angular_velocity_rad_s":[1.2391925147636673e-10,-5.441704474529985e-12,1.1747214789087285e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931348609620821,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199277011699674,-1.6279680975195068,1.4181918958991875,-1.3856952812524286,-1.570774203470812,-0.4491357686507976,0.0],"actuator_force":[0.09515414335146488,-18.137535494696294,-19.422691975825728,-2.5302431516391835,0.0014109922423131138,-1.0732448686212592e-05,-0.29221374050573046],"issued_joint_targets_rad":[-2.01993209521389,-1.6179397541879599,1.423402219266301,-1.3765001192344768,-1.5707753119557089,-0.44913576556937074],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.05999999999931,"joint_targets_rad":[-2.01993209521389,-1.6179397541879599,1.423402219266301,-1.3765001192344768,-1.5707753119557089,-0.44913576556937074],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.079999999999298,"qpos":[-2.0199236339775735,-1.6237231279913462,1.4707676493289314,-1.4180229221453051,-1.5707766982308768,-0.44913578993501785,0.0029331471351430414,0.00015593627416010488,0.0031929679030344507,-0.0034285384077928837,0.0029333006339017586,0.000156602494358326,0.003200774244715164,-0.0034365334260684295,0.08123550790404364,0.47773560250912384,0.2998922445797833,0.99999999999945,-1.9175403651689002e-11,8.418190587416429e-13,1.0484555695025896e-06],"qvel":[-0.00026135330013752776,0.028026449143200974,-0.240098317507653,0.20881752611914767,-7.157104816924468e-07,2.1922919758472064e-07,-0.00012294015425261804,-4.5434482403682897e-05,-4.179936028656611e-05,0.0002575668175903968,-9.875596951682804e-05,1.2052885178084466e-05,0.00022706853206287418,0.00026755037989697404,-1.42012548830647e-12,-3.234929971644791e-11,1.273505947875142e-14,-3.310084474389105e-10,1.452968670933961e-11,2.1447622663532644e-18],"joint_position_rad":[-2.0199236339775735,-1.6237231279913462,1.4707676493289314,-1.4180229221453051,-1.5707766982308768,-0.44913578993501785],"joint_velocity_rad_s":[-0.00026135330013752776,0.028026449143200974,-0.240098317507653,0.20881752611914767,-7.157104816924468e-07,2.1922919758472064e-07],"linkage_position_rad":[0.0029331471351430414,0.00015593627416010488,0.0031929679030344507,-0.0034285384077928837,0.0029333006339017586,0.000156602494358326,0.003200774244715164,-0.0034365334260684295],"tcp_position_m":[0.08117243031346101,0.47705444175471895,0.39134811461283747],"tcp_quaternion_wxyz":[-3.930365052414667e-05,0.7071037784783598,0.7071097779535858,8.269993771925843e-05],"object_position_m":[0.08123550790404364,0.47773560250912384,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9175403651689002e-11,8.418190587416429e-13,1.0484555695025896e-06],"object_linear_velocity_m_s":[-1.42012548830647e-12,-3.234929971644791e-11,1.273505947875142e-14],"object_angular_velocity_rad_s":[-3.3100847790564443e-10,1.4528992614007117e-11,2.1447623529126173e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486276150995,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01992769999735,-1.6271965686278451,1.4130434669524699,-1.3813199308854405,-1.5707740289751257,-0.44913576751293965,0.0],"actuator_force":[0.09640928050203001,-18.157460930278376,-19.40903774986191,-2.530256981982461,0.0014061989237461603,-1.0711880662483964e-05,-0.2922139078333928],"issued_joint_targets_rad":[-2.019932089421988,-1.6171428375967505,1.4182260807316702,-1.3721218942947913,-1.570775136228085,-0.44913575972701847],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.079999999999298,"joint_targets_rad":[-2.019932089421988,-1.6171428375967505,1.4182260807316702,-1.3721218942947913,-1.570775136228085,-0.44913575972701847],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.099999999999287,"qpos":[-2.019923625301291,-1.6230989042659125,1.4657847513434785,-1.41366279793058,-1.570776525897756,-0.4491357874709554,0.002933110745456252,0.00015593557397903154,0.0031929403804674987,-0.0034285020704913553,0.0029332644464137997,0.0001566042337753602,0.0032007554205250653,-0.003436495399609488,0.08123550790401868,0.47773560250855535,0.2998922445797833,0.99999999999945,-1.897290717030479e-11,8.329157338568415e-13,1.0484555695026066e-06],"qvel":[-0.0002645124212671588,0.028906244257283952,-0.2410682334451219,0.20890848444424032,-6.473812301807646e-07,2.3612522904643568e-07,-0.0001225897980428619,-4.548538837432911e-05,-4.0152500397146975e-05,0.0002576085946166227,-9.834786919889688e-05,1.225470671189216e-05,0.0002295510084890835,0.0002675445279416556,-1.762378828368633e-12,-4.014625083221407e-11,1.2733671699970637e-14,-9.887455326305664e-10,4.340545010300504e-11,3.9157608305766e-18],"joint_position_rad":[-2.019923625301291,-1.6230989042659125,1.4657847513434785,-1.41366279793058,-1.570776525897756,-0.4491357874709554],"joint_velocity_rad_s":[-0.0002645124212671588,0.028906244257283952,-0.2410682334451219,0.20890848444424032,-6.473812301807646e-07,2.3612522904643568e-07],"linkage_position_rad":[0.002933110745456252,0.00015593557397903154,0.0031929403804674987,-0.0034285020704913553,0.0029332644464137997,0.0001566042337753602,0.0032007554205250653,-0.003436495399609488],"tcp_position_m":[0.08117262779074795,0.47705496229953387,0.39305000142504365],"tcp_quaternion_wxyz":[-3.914577439109522e-05,0.7071037763274101,0.7071097801962819,8.198713190579583e-05],"object_position_m":[0.08123550790401868,0.47773560250855535,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.897290717030479e-11,8.329157338568415e-13,1.0484555695026066e-06],"object_linear_velocity_m_s":[-1.762378828368633e-12,-4.014625083221407e-11,1.2733671699970637e-14],"object_angular_velocity_rad_s":[-9.887456236457637e-10,4.340337679138857e-11,3.915760898259992e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486382155789,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276939751383,-1.6264065675910075,1.4078735913269724,-1.3769416509775743,-1.570773852691465,-0.449135761672462,0.0],"actuator_force":[0.09766762081289926,-18.177824353103915,-19.395026654963203,-2.530274967921173,0.0014013412685471849,-1.0713276225260415e-05,-0.29221407125729376],"issued_joint_targets_rad":[-2.019932077766798,-1.6163271484552688,1.4130280955155492,-1.3677406102471898,-1.5707749586530595,-0.44913574803263123],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.099999999999287,"joint_targets_rad":[-2.019932077766798,-1.6163271484552688,1.4130280955155492,-1.3677406102471898,-1.5707749586530595,-0.44913574803263123],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.119999999999276,"qpos":[-2.0199236155488336,-1.6224564142405538,1.4607816410026204,-1.4093006823403889,-1.5707763528520118,-0.4491357841516337,0.0029330808225923877,0.00015593486201213698,0.003192919372676572,-0.003428471851370627,0.002933234727228963,0.00015660598431786364,0.003200743191564807,-0.0034364634737548837,0.08123550790399504,0.47773560250801683,0.2998922445797833,0.99999999999945,-1.6860970262833277e-11,7.4019425669742e-13,1.0484555695026212e-06],"qvel":[-0.0002676555893413763,0.029788627108173482,-0.24204632856005112,0.20900482768755907,-5.726783755207991e-07,2.7825568454110346e-07,-0.000122304898922894,-4.553721089903137e-05,-3.85568537294718e-05,0.0002577170718757461,-9.800447239536919e-05,1.2459127944878046e-05,0.00023199431595112045,0.0002676051056284957,-9.006906224020713e-13,-2.0517358257254396e-11,1.272673280606673e-14,7.032899703657801e-10,-3.087537523933665e-11,4.2424052788495986e-19],"joint_position_rad":[-2.0199236155488336,-1.6224564142405538,1.4607816410026204,-1.4093006823403889,-1.5707763528520118,-0.4491357841516337],"joint_velocity_rad_s":[-0.0002676555893413763,0.029788627108173482,-0.24204632856005112,0.20900482768755907,-5.726783755207991e-07,2.7825568454110346e-07],"linkage_position_rad":[0.0029330808225923877,0.00015593486201213698,0.003192919372676572,-0.003428471851370627,0.002933234727228963,0.00015660598431786364,0.003200743191564807,-0.0034364634737548837],"tcp_position_m":[0.08117294261176614,0.47705572787900324,0.3947517054441983],"tcp_quaternion_wxyz":[-3.898075767687946e-05,0.707103774099636,0.7071097825179133,8.125281760887116e-05],"object_position_m":[0.08123550790399504,0.47773560250801683,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6860970262833277e-11,7.4019425669742e-13,1.0484555695026212e-06],"object_linear_velocity_m_s":[-9.006906224020713e-13,-2.0517358257254396e-11,1.272673280606673e-14],"object_angular_velocity_rad_s":[7.032900351071516e-10,-3.087390050269594e-11,4.2424053814536093e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486427189507,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927681948981,-1.6255980033157111,1.4026820465576553,-1.372560311128439,-1.570773674558365,-0.4491357499800747,0.0],"actuator_force":[0.09892943544218724,-18.198628993583952,-19.38065746591019,-2.5302971627809256,0.0013964146609168893,-1.0739788962155217e-05,-0.2922142306344762],"issued_joint_targets_rad":[-2.0199320589855323,-1.6154925878351538,1.4078080322472553,-1.3633561350481722,-1.5707747791663618,-0.44913572922511685],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.119999999999276,"joint_targets_rad":[-2.0199320589855323,-1.6154925878351538,1.4078080322472553,-1.3633561350481722,-1.5707747791663618,-0.44913572922511685],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.139999999999265,"qpos":[-2.019923603948821,-1.6217956008339907,1.4557581436231763,-1.404936462063086,-1.570776178978821,-0.44913577938313753,0.002933056197032849,0.00015593413868179813,0.003192903715905097,-0.003428446640450389,0.0029332103068219787,0.00015660774692096286,0.0032007363964781433,-0.0034364365372567514,0.08123550790396707,0.4777356025073797,0.2998922445797833,0.99999999999945,-1.840877475691761e-11,8.081272646169225e-13,1.0484555695026487e-06],"qvel":[-0.0002707810426350821,0.03067381090463061,-0.24303288805368284,0.20910664996774786,-4.917992648631812e-07,3.4899008323908637e-07,-0.00012207379045128596,-4.558998691549038e-05,-3.700033158833227e-05,0.00025788137633914036,-9.771408931349966e-05,1.2666215472035255e-05,0.0002344108104626198,0.0002677211268255169,-9.950233333627102e-13,-2.2666658550517246e-11,1.2728120584847511e-14,6.359367680094947e-10,-2.7918486894643965e-11,7.7454733249853435e-19],"joint_position_rad":[-2.019923603948821,-1.6217956008339907,1.4557581436231763,-1.404936462063086,-1.570776178978821,-0.44913577938313753],"joint_velocity_rad_s":[-0.0002707810426350821,0.03067381090463061,-0.24303288805368284,0.20910664996774786,-4.917992648631812e-07,3.4899008323908637e-07],"linkage_position_rad":[0.002933056197032849,0.00015593413868179813,0.003192903715905097,-0.003428446640450389,0.0029332103068219787,0.00015660774692096286,0.0032007363964781433,-0.0034364365372567514],"tcp_position_m":[0.0811733803217529,0.47705675089205696,0.396453225177392],"tcp_quaternion_wxyz":[-3.8809362447743965e-05,0.7071037717321087,0.7071097849810661,8.0499000843991e-05],"object_position_m":[0.08123550790396707,0.4777356025073797,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.840877475691761e-11,8.081272646169225e-13,1.0484555695026487e-06],"object_linear_velocity_m_s":[-9.950233333627102e-13,-2.2666658550517246e-11,1.2728120584847511e-14],"object_angular_velocity_rad_s":[6.359368265506823e-10,-2.7917153391690024e-11,7.745473624950627e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486421875211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199276626525795,-1.6247707778150482,1.3974686015723978,-1.368175779291824,-1.570773494511191,-0.4491357311746817,0.0],"actuator_force":[0.1001950095369466,-18.21987832396735,-19.36592888008363,-2.5303236111437855,0.0013914137414303696,-1.079478039400783e-05,-0.29221438579391745],"issued_joint_targets_rad":[-2.0199320316868077,-1.614639049033852,1.4025656501018284,-1.3589683349915194,-1.5707745977000522,-0.4491357019149185],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.139999999999265,"joint_targets_rad":[-2.0199320316868077,-1.614639049033852,1.4025656501018284,-1.3589683349915194,-1.5707745977000522,-0.4491357019149185],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.159999999999254,"qpos":[-2.0199235896549284,-1.6211164022937292,1.4507140783410244,-1.4005700218438222,-1.5707760041679264,-0.4491357724958892,0.0029330359102292904,0.00015593340428925225,0.0031928924563139863,-0.0034284255281065218,0.0029331902266285913,0.00015660952240113054,0.0032007340838735385,-0.0034364136790606954,0.08123550790393949,0.4777356025067517,0.2998922445797833,0.99999999999945,-1.9532115584352973e-11,8.574346030147312e-13,1.0484555695026794e-06],"qvel":[-0.00027388679256806244,0.03156202465116,-0.24402821361583324,0.20921404391566484,-4.048913974925845e-07,4.519645914342376e-07,-0.00012188692044689369,-4.564375506128873e-05,-3.547289879760851e-05,0.00025809266752964313,-9.746714195401002e-05,1.2876042814151503e-05,0.00023681081081598098,0.00026788361855433065,-1.0958004126710605e-12,-2.496260944236888e-11,1.272534502728595e-14,4.816897691255089e-10,-2.1146252928186148e-11,1.4141304805092423e-18],"joint_position_rad":[-2.0199235896549284,-1.6211164022937292,1.4507140783410244,-1.4005700218438222,-1.5707760041679264,-0.4491357724958892],"joint_velocity_rad_s":[-0.00027388679256806244,0.03156202465116,-0.24402821361583324,0.20921404391566484,-4.048913974925845e-07,4.519645914342376e-07],"linkage_position_rad":[0.0029330359102292904,0.00015593340428925225,0.0031928924563139863,-0.0034284255281065218,0.0029331902266285913,0.00015660952240113054,0.0032007340838735385,-0.0034364136790606954],"tcp_position_m":[0.08117394692325525,0.47705804476403074,0.3981545590812632],"tcp_quaternion_wxyz":[-3.8632277102341024e-05,0.707103769162172,0.7071097876480885,7.972748377927671e-05],"object_position_m":[0.08123550790393949,0.4777356025067517,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9532115584352973e-11,8.574346030147312e-13,1.0484555695026794e-06],"object_linear_velocity_m_s":[-1.0958004126710605e-12,-2.496260944236888e-11,1.272534502728595e-14],"object_angular_velocity_rad_s":[4.816898134662629e-10,-2.114524286749722e-11,1.4141304879034056e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931348637491558,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927634691003,-1.6239247854075471,1.3922330158637706,-1.3637879217566427,-1.5707733124816563,-0.44913570386672286,0.0],"actuator_force":[0.10146464487797857,-18.241576088100373,-19.35083950817443,-2.530354347976754,0.001386332274819324,-1.0881875965651489e-05,-0.2922145365308896],"issued_joint_targets_rad":[-2.0199319943307583,-1.6137664166038261,1.3973006978126377,-1.354577074694414,-1.570774414181944,-0.4491356645641603],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.159999999999254,"joint_targets_rad":[-2.0199319943307583,-1.6137664166038261,1.3973006978126377,-1.354577074694414,-1.570774414181944,-0.4491356645641603],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.179999999999243,"qpos":[-2.0199235717357444,-1.6204187518199178,1.445649257717979,-1.3962012445083507,-1.5707758283128104,-0.4491357627377775,0.0029330191765196967,0.00015593265903373008,0.0031928848120382747,-0.0034284077689299554,0.00293317370095996,0.00015661131147484797,0.003200735474400193,-0.003436394152141444,0.08123550790391254,0.47773560250613767,0.2998922445797833,0.99999999999945,-2.0142633382003603e-11,8.84203759007306e-13,1.0484555695027143e-06],"qvel":[-0.0002769705826089908,0.03245351617279909,-0.24503262642228035,0.20932710085045214,-3.120519780354093e-07,5.911475880868506e-07,-0.00012173647112894337,-4.5698556486729244e-05,-3.39661862488814e-05,0.0002583437837397935,-9.725578376329521e-05,1.308869127583552e-05,0.00023920298949724842,0.00026808526179788723,-1.2233365829397062e-12,-2.7869064112567787e-11,1.2719793912162824e-14,2.132115088667491e-10,-9.362034603732246e-12,2.5818603185116377e-18],"joint_position_rad":[-2.0199235717357444,-1.6204187518199178,1.445649257717979,-1.3962012445083507,-1.5707758283128104,-0.4491357627377775],"joint_velocity_rad_s":[-0.0002769705826089908,0.03245351617279909,-0.24503262642228035,0.20932710085045214,-3.120519780354093e-07,5.911475880868506e-07],"linkage_position_rad":[0.0029330191765196967,0.00015593265903373008,0.0031928848120382747,-0.0034284077689299554,0.00293317370095996,0.00015661131147484797,0.003200735474400193,-0.003436394152141444],"tcp_position_m":[0.08117464893897003,0.47705962408839997,0.39985570555871974],"tcp_quaternion_wxyz":[-3.845012349060029e-05,0.7071037663262831,0.7071097905822459,7.893988384718218e-05],"object_position_m":[0.08123550790391254,0.47773560250613767,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0142633382003603e-11,8.84203759007306e-13,1.0484555695027143e-06],"object_linear_velocity_m_s":[-1.2233365829397062e-12,-2.7869064112567787e-11,1.2719793912162824e-14],"object_angular_velocity_rad_s":[2.1321152849763484e-10,-9.36158751812375e-12,2.5818604167150544e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486293440129,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199275965207995,-1.623059911753788,1.3869750385020612,-1.3593966031331144,-1.570773128397241,-0.4491356665183196,0.0],"actuator_force":[0.10273866293346146,-18.263726336860145,-19.335387862923653,-2.5303893974270295,0.0013811629825113414,-1.1005029875832406e-05,-0.29221468259952166],"issued_joint_targets_rad":[-2.0199319452051436,-1.612874565173604,1.3920129124825844,-1.3501822170908386,-1.5707742285349056,-0.4491356154627945],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.179999999999243,"joint_targets_rad":[-2.0199319452051436,-1.612874565173604,1.3920129124825844,-1.3501822170908386,-1.5707742285349056,-0.4491356154627945],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.199999999999232,"qpos":[-2.0199235491626015,-1.6197025771155058,1.440563487275429,-1.3918300109833555,-1.5707756513098825,-0.44913574926567773,0.002933005351913853,0.00015593190302689146,0.0031928801420711378,-0.0034283927521227314,0.002933160085785911,0.00015661311477236875,0.003200739929657579,-0.0034363773438399687,0.08123550790388648,0.4777356025055432,0.2998922445797833,0.99999999999945,-2.0048436279037143e-11,8.800474302765792e-13,1.048455569502751e-06],"qvel":[-0.0002800298386649903,0.03334855582248147,-0.24604647077921896,0.2094459108977013,-2.1332634710716616e-07,7.70917300471255e-07,-0.00012161604821781811,-4.575443562983445e-05,-3.2473168374930486e-05,0.00025862895255767543,-9.707358811785751e-05,1.330425100153092e-05,0.0002415946976527237,0.00026832009685653425,-1.4105575158918155e-12,-3.2134839576721036e-11,1.272395724850517e-14,-2.0982948073655713e-10,9.20928308438964e-12,4.713843181159437e-18],"joint_position_rad":[-2.0199235491626015,-1.6197025771155058,1.440563487275429,-1.3918300109833555,-1.5707756513098825,-0.44913574926567773],"joint_velocity_rad_s":[-0.0002800298386649903,0.03334855582248147,-0.24604647077921896,0.2094459108977013,-2.1332634710716616e-07,7.70917300471255e-07],"linkage_position_rad":[0.002933005351913853,0.00015593190302689146,0.0031928801420711378,-0.0034283927521227314,0.002933160085785911,0.00015661311477236875,0.003200739929657579,-0.0034363773438399687],"tcp_position_m":[0.08117549348671493,0.4770615047958503,0.40155666295515025],"tcp_quaternion_wxyz":[-3.8263463377894665e-05,0.707103763158708,0.7071097938490232,7.813765100411853e-05],"object_position_m":[0.08123550790388648,0.4777356025055432,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0048436279037143e-11,8.800474302765792e-13,1.048455569502751e-06],"object_linear_velocity_m_s":[-1.4105575158918155e-12,-3.2134839576721036e-11,1.272395724850517e-14],"object_angular_velocity_rad_s":[-2.0982950004714395e-10,9.208843090593938e-12,4.7138432463380664e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486183289993,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927546426112,-1.6221760326863555,1.3816944069469381,-1.3550016863461976,-1.5707729421804935,-0.44913561741942165,0.0],"actuator_force":[0.10401740844508822,-18.286333470691716,-19.31957234529409,-2.530428771191282,0.0013758973292397059,-1.1168602014777207e-05,-0.2922148237033098],"issued_joint_targets_rad":[-2.019931882396421,-1.6119633580009953,1.3867020181367813,-1.3457836234349514,-1.5707740406760033,-0.4491355526997208],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.199999999999232,"joint_targets_rad":[-2.019931882396421,-1.6119633580009953,1.3867020181367813,-1.3457836234349514,-1.5707740406760033,-0.4491355526997208],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.21999999999922,"qpos":[-2.0199235207948703,-1.618967799845095,1.4354565649378277,-1.3874562003144204,-1.5707754730576702,-0.4491357311350399,0.00293299390850845,0.0001559311363043316,0.003192877920737408,-0.003428379977242065,0.00293314885314702,0.00015661493284772467,0.003200746926696373,-0.003436362751552652,0.08123550790386161,0.4777356025049762,0.2998922445797833,0.99999999999945,-1.8941715167143516e-11,8.314570707180761e-13,1.048455569502788e-06],"qvel":[-0.0002830616086351099,0.03424744108421757,-0.24707011861796085,0.2095705630406227,-1.0870497183675907e-07,9.961550661708914e-07,-0.00012152042666624792,-4.581144130319589e-05,-3.098789397739066e-05,0.00025894355882652393,-9.691529324620757e-05,1.3522822637002513e-05,0.0002439922392112202,0.00026858328499507314,-1.7118278716177697e-12,-3.89988300811681e-11,1.2722569469724389e-14,-8.450280493315352e-10,3.70923840960641e-11,8.606267812310769e-18],"joint_position_rad":[-2.0199235207948703,-1.618967799845095,1.4354565649378277,-1.3874562003144204,-1.5707754730576702,-0.4491357311350399],"joint_velocity_rad_s":[-0.0002830616086351099,0.03424744108421757,-0.24707011861796085,0.2095705630406227,-1.0870497183675907e-07,9.961550661708914e-07],"linkage_position_rad":[0.00293299390850845,0.0001559311363043316,0.003192877920737408,-0.003428379977242065,0.00293314885314702,0.00015661493284772467,0.003200746926696373,-0.003436362751552652],"tcp_position_m":[0.08117648836960284,0.47706370435760725,0.4032574295540238],"tcp_quaternion_wxyz":[-3.807280432604256e-05,0.7071037595900012,0.7071097975176432,7.732208332736708e-05],"object_position_m":[0.08123550790386161,0.4777356025049762,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8941715167143516e-11,8.314570707180761e-13,1.048455569502788e-06],"object_linear_velocity_m_s":[-1.7118278716177697e-12,-3.89988300811681e-11,1.2722569469724389e-14],"object_angular_velocity_rad_s":[-8.450281271091101e-10,3.709061214725311e-11,8.606267868283488e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313486049251699,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927482489755,-1.621273012773811,1.3763908456006377,-1.3506030326389677,-1.5707727537481697,-0.44913555465892685,0.0],"actuator_force":[0.10530125368495646,-18.309402291119568,-19.30339122719579,-2.5304724663359366,0.0013705252473528162,-1.1377450078953188e-05,-0.2922149594832112],"issued_joint_targets_rad":[-2.0199318037544143,-1.6110326451773358,1.3813677239391184,-1.341381153318217,-1.5707738505154336,-0.4491354741275116],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.21999999999922,"joint_targets_rad":[-2.0199318037544143,-1.6110326451773358,1.3813677239391184,-1.341381153318217,-1.5707738505154336,-0.4491354741275116],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.23999999999921,"qpos":[-2.019923485362029,-1.6182143349791391,1.4303282803635828,-1.3830796896829365,-1.5707752934559864,-0.4491357072871234,0.0029329844135144237,0.0001559303588340279,0.003192877716738332,-0.003428369034335954,0.0029331395701777947,0.0001566167661838195,0.003200756037097397,-0.003436349962783563,0.08123550790383854,0.4777356025044501,0.2998922445797833,0.99999999999945,-1.637443779923341e-11,7.187595925198343e-13,1.0484555695028202e-06],"qvel":[-0.00028606248819754165,0.03515050236493061,-0.24810397511849097,0.20970114509005477,1.8813483477043358e-09,1.2723590054222901e-06,-0.00012144534302692,-4.586962791922164e-05,-2.950525846889764e-05,0.0002592839596406919,-9.677659356053371e-05,1.3744519323310096e-05,0.00024640110371380283,0.0002688709115362372,-8.795088620806282e-13,-2.0036983554547298e-11,1.2725345027285953e-14,7.009839949307924e-10,-3.0770722131005115e-11,9.32419625848308e-19],"joint_position_rad":[-2.019923485362029,-1.6182143349791391,1.4303282803635828,-1.3830796896829365,-1.5707752934559864,-0.4491357072871234],"joint_velocity_rad_s":[-0.00028606248819754165,0.03515050236493061,-0.24810397511849097,0.20970114509005477,1.8813483477043358e-09,1.2723590054222901e-06],"linkage_position_rad":[0.0029329844135144237,0.0001559303588340279,0.003192877716738332,-0.003428369034335954,0.0029331395701777947,0.0001566167661838195,0.003200756037097397,-0.003436349962783563],"tcp_position_m":[0.08117764218547004,0.47706624203218306,0.4049580035717654],"tcp_quaternion_wxyz":[-3.787860507236923e-05,0.7071037555451779,0.70710980166289,7.649434114136576e-05],"object_position_m":[0.08123550790383854,0.4777356025044501,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.637443779923341e-11,7.187595925198343e-13,1.0484555695028202e-06],"object_linear_velocity_m_s":[-8.795088620806282e-13,-2.0036983554547298e-11,1.2725345027285953e-14],"object_angular_velocity_rad_s":[7.009840594527207e-10,-3.076925222979021e-11,9.3241963034315e-19],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485895249134,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927402557894,-1.6203507035380202,1.371064064025103,-1.3462005015897198,-1.5707725630101634,-0.449135476089406,0.0],"actuator_force":[0.10659060354919347,-18.332938063734673,-19.28684262956267,-2.530520462397135,0.0013650347766542836,-1.163704189366399e-05,-0.2922150895016737],"issued_joint_targets_rad":[-2.019931706848759,-1.6100822613706833,1.3760097219656346,-1.3369746647055913,-1.5707736579551708,-0.44913537731892966],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.23999999999921,"joint_targets_rad":[-2.019931706848759,-1.6100822613706833,1.3760097219656346,-1.3369746647055913,-1.5707736579551708,-0.44913537731892966],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.259999999999199,"qpos":[-2.0199234414416165,-1.6174420899921789,1.4251784141332455,-1.3787003544235237,-1.5707751124050617,-0.4491356765333267,0.002932976512062992,0.00015592957052178998,0.0031928791759308637,-0.0034283595876871595,0.002933131881907116,0.00015661861519383383,0.003200766909790478,-0.0034363386387762825,0.0812355079038119,0.47773560250384295,0.2998922445797833,0.99999999999945,-1.748669171278018e-11,7.675707474519072e-13,1.04845556950288e-06],"qvel":[-0.00028902852875291194,0.03605811038401415,-0.2491484858509834,0.2098377435523379,1.1856863268384072e-07,1.6057844650190396e-06,-0.00012138732629834161,-4.592905711686563e-05,-2.8020807448920893e-05,0.00025964733805618347,-9.665396912144115e-05,1.3969469456242084e-05,0.00024882616979942843,0.0002691798295617776,-9.484063827194936e-13,-2.1606942760327603e-11,1.2729508363628298e-14,6.165534434985198e-10,-2.7064465169609776e-11,1.7023592973172774e-18],"joint_position_rad":[-2.0199234414416165,-1.6174420899921789,1.4251784141332455,-1.3787003544235237,-1.5707751124050617,-0.4491356765333267],"joint_velocity_rad_s":[-0.00028902852875291194,0.03605811038401415,-0.2491484858509834,0.2098377435523379,1.1856863268384072e-07,1.6057844650190396e-06],"linkage_position_rad":[0.002932976512062992,0.00015592957052178998,0.0031928791759308637,-0.0034283595876871595,0.002933131881907116,0.00015661861519383383,0.003200766909790478,-0.0034363386387762825],"tcp_position_m":[0.081178964460995,0.477069139167787,0.40665838315172914],"tcp_quaternion_wxyz":[-3.7681280471010356e-05,0.7071037509414595,0.7071098063673638,7.565545983598722e-05],"object_position_m":[0.0812355079038119,0.47773560250384295,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.748669171278018e-11,7.675707474519072e-13,1.04845556950288e-06],"object_linear_velocity_m_s":[-9.484063827194936e-13,-2.1606942760327603e-11,1.2729508363628298e-14],"object_angular_velocity_rad_s":[6.165535002489424e-10,-2.706317231176679e-11,1.7023593138085537e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485724501606,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927304196505,-1.6194089412133892,1.365713754716003,-1.3417939511480792,-1.5707723698681526,-0.44913537928362063,0.0],"actuator_force":[0.10788590172433032,-18.35694659602632,-19.26992449409181,-2.530572717511518,0.001359411591352,-1.19535934572923e-05,-0.29221521322140653],"issued_joint_targets_rad":[-2.019931588914684,-1.609112022950591,1.3706276843845164,-1.332564013998401,-1.5707734628872343,-0.4491352595127971],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.259999999999199,"joint_targets_rad":[-2.019931588914684,-1.609112022950591,1.3706276843845164,-1.332564013998401,-1.5707734628872343,-0.4491352595127971],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.279999999999188,"qpos":[-2.0199233874318043,-1.616650963872519,1.4200067367539686,-1.3743180680439961,-1.5707749298045948,-0.4491356375358797,0.0029329699131064603,0.00015592877121418732,0.0031928820071397326,-0.00342835136250375,0.00293312549715117,0.00015662048021668575,0.003200779256924164,-0.0034363285010587234,0.08123550790378589,0.4777356025032507,0.2998922445797833,0.99999999999945,-1.8363718661560855e-11,8.060327204028611e-13,1.0484555695029475e-06],"qvel":[-0.0002919551223753601,0.036970685741573854,-0.250204145987121,0.20998044336344024,2.415700200711941e-07,2.003619864117024e-06,-0.00012134356065975782,-4.5989799965342845e-05,-2.6530563303552958e-05,0.00026003159340041786,-9.654454651471844e-05,1.4197820535375305e-05,0.00025127188900169904,0.0002695075335216298,-1.0317352272005586e-12,-2.3506404438056293e-11,1.2732283921189861e-14,4.608603595047252e-10,-2.0230411673392543e-11,3.1080758436348108e-18],"joint_position_rad":[-2.0199233874318043,-1.616650963872519,1.4200067367539686,-1.3743180680439961,-1.5707749298045948,-0.4491356375358797],"joint_velocity_rad_s":[-0.0002919551223753601,0.036970685741573854,-0.250204145987121,0.20998044336344024,2.415700200711941e-07,2.003619864117024e-06],"linkage_position_rad":[0.0029329699131064603,0.00015592877121418732,0.0031928820071397326,-0.00342835136250375,0.00293312549715117,0.00015662048021668575,0.003200779256924164,-0.0034363285010587234],"tcp_position_m":[0.08118046581787322,0.47707241957705643,0.40835856635709633],"tcp_quaternion_wxyz":[-3.748120609842771e-05,0.7071037456853989,0.7071098117243498,7.480636159855244e-05],"object_position_m":[0.08123550790378589,0.4777356025032507,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8363718661560855e-11,8.060327204028611e-13,1.0484555695029475e-06],"object_linear_velocity_m_s":[-1.0317352272005586e-12,-2.3506404438056293e-11,1.2732283921189861e-14],"object_angular_velocity_rad_s":[4.6086040192508723e-10,-2.022944529012668e-11,3.1080758999723862e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485539654195,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927184637176,-1.6184475438914996,1.3603395902834843,-1.3373832376977561,-1.570772174213864,-0.4491352614803918,0.0],"actuator_force":[0.10918763820700406,-18.381434334590722,-19.252634546120134,-2.5306291632240345,0.0013536383634118465,-1.233424242741421e-05,-0.2922153299770091],"issued_joint_targets_rad":[-2.0199314467847733,-1.6081217242691745,1.365221259827835,-1.328149056134919,-1.5707732651914241,-0.44913511754586727],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.279999999999188,"joint_targets_rad":[-2.0199314467847733,-1.6081217242691745,1.365221259827835,-1.328149056134919,-1.5707732651914241,-0.44913511754586727],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.299999999999176,"qpos":[-2.0199233215168966,-1.615840845884412,1.4148130074235161,-1.369932702250515,-1.5707747455526981,-0.44913558878392357,0.0029329643778524157,0.00015592796069931026,0.003192885970437328,-0.0034283441340727814,0.0029331201769365644,0.0001566223615057998,0.0032007928422100053,-0.0034363193203817356,0.08123550790375905,0.47773560250263913,0.2998922445797833,0.99999999999945,-1.9886657472898508e-11,8.72867740425027e-13,1.0484555695030328e-06],"qvel":[-0.0002948368564136894,0.037888711506983544,-0.2512715123810365,0.21012932744239468,3.711904525351394e-07,2.4742099241637e-06,-0.00012131177487200231,-4.6051939660425584e-05,-2.5030863982404913e-05,0.00026043526532388536,-9.644598574868987e-05,1.442974419229184e-05,0.00025374245934462836,0.0002698520580162184,-1.1796010684669055e-12,-2.6875583922628394e-11,1.2726732806066736e-14,2.4445290406955673e-10,-1.0730141440063744e-11,5.674566183370723e-18],"joint_position_rad":[-2.0199233215168966,-1.615840845884412,1.4148130074235161,-1.369932702250515,-1.5707747455526981,-0.44913558878392357],"joint_velocity_rad_s":[-0.0002948368564136894,0.037888711506983544,-0.2512715123810365,0.21012932744239468,3.711904525351394e-07,2.4742099241637e-06],"linkage_position_rad":[0.0029329643778524157,0.00015592796069931026,0.003192885970437328,-0.0034283441340727814,0.0029331201769365644,0.0001566223615057998,0.0032007928422100053,-0.0034363193203817356],"tcp_position_m":[0.08118215818125124,0.4770761100071144,0.4100585511624142],"tcp_quaternion_wxyz":[-3.727872259951368e-05,0.7071037396691428,0.7071098178415588,7.394786624757915e-05],"object_position_m":[0.08123550790375905,0.47773560250263913,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9886657472898508e-11,8.72867740425027e-13,1.0484555695030328e-06],"object_linear_velocity_m_s":[-1.1796010684669055e-12,-2.6875583922628394e-11,1.2726732806066736e-14],"object_angular_velocity_rad_s":[2.4445292656917224e-10,-1.072962884402264e-11,5.674566196344135e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485342886108,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019927040708897,-1.617466307827041,1.3549412198248005,-1.3329682161569338,-1.5707719759268064,-0.4491351195164721,0.0],"actuator_force":[0.11049635856397799,-18.40640848805151,-19.234970245016484,-2.5306896974489064,0.0013476939005840904,-1.2787266683744747e-05,-0.29221543893634555],"issued_joint_targets_rad":[-2.019931276802102,-1.6071111327693273,1.3597900686414437,-1.3237296447451516,-1.5707730647323124,-0.4491349477661087],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.299999999999176,"joint_targets_rad":[-2.019931276802102,-1.6071111327693273,1.3597900686414437,-1.3237296447451516,-1.5707730647323124,-0.4491349477661087],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.319999999999165,"qpos":[-2.019923241623304,-1.61501161399978,1.409596972473864,-1.365544126981578,-1.5707745595446665,-0.4491355285636587,0.002932959710270185,0.0001559271387037291,0.0031928908673889782,-0.0034283377189029247,0.0029331157249909584,0.0001566242592086802,0.003200807471260023,-0.003436310907580387,0.08123550790373252,0.4777356025020347,0.2998922445797833,0.99999999999945,-2.0447919278195524e-11,8.974789434379495e-13,1.048455569503126e-06],"qvel":[-0.00029766732813880307,0.03881275007238775,-0.25235121970167834,0.210284475992023,5.078475526368428e-07,3.02734280470803e-06,-0.00012129015453459207,-4.611557567640397e-05,-2.351820481657251e-05,0.0002608574882507607,-9.635638898195728e-05,1.4665443468272793e-05,0.0002562420014149951,0.0002702119031175531,-1.3774600779558517e-12,-3.1384692885990905e-11,1.2728120584847518e-14,-1.2345618406278678e-10,5.416264788064597e-12,1.0360279062849557e-17],"joint_position_rad":[-2.019923241623304,-1.61501161399978,1.409596972473864,-1.365544126981578,-1.5707745595446665,-0.4491355285636587],"joint_velocity_rad_s":[-0.00029766732813880307,0.03881275007238775,-0.25235121970167834,0.210284475992023,5.078475526368428e-07,3.02734280470803e-06],"linkage_position_rad":[0.002932959710270185,0.0001559271387037291,0.0031928908673889782,-0.0034283377189029247,0.0029331157249909584,0.0001566242592086802,0.003200807471260023,-0.003436310907580387],"tcp_position_m":[0.08118405504475112,0.4770802407373484,0.4117583354434792],"tcp_quaternion_wxyz":[-3.707413991958723e-05,0.7071037327654162,0.7071098248461363,7.308070146551766e-05],"object_position_m":[0.08123550790373252,0.4777356025020347,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0447919278195524e-11,8.974789434379495e-13,1.048455569503126e-06],"object_linear_velocity_m_s":[-1.3774600779558517e-12,-3.1384692885990905e-11,1.2728120584847518e-14],"object_angular_velocity_rad_s":[-1.2345619541994123e-10,5.416005911405146e-12,1.0360279164114146e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313485136001277,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199268687512393,-1.616465002577564,1.3495182641752888,-1.328548740132774,-1.5707717748712593,-0.4491349497398296,0.0],"actuator_force":[0.11181267538495376,-18.43187718452282,-19.216928716478833,-2.530754174800336,0.0013415519483714888,-1.3322365930434898e-05,-0.2922155390454744],"issued_joint_targets_rad":[-2.0199310747082353,-1.6060799824275915,1.3543336965441106,-1.3193056323847854,-1.570772861355164,-0.4491347459208924],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.319999999999165,"joint_targets_rad":[-2.0199310747082353,-1.6060799824275915,1.3543336965441106,-1.3193056323847854,-1.570772861355164,-0.4491347459208924],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.339999999999154,"qpos":[-2.019923145362513,-1.6141631328801436,1.404358363379399,-1.3611522104559732,-1.570774371671497,-0.4491354549207541,0.0029329557492896816,0.0001559263048868271,0.0031928965328419353,-0.003428331967591196,0.002933111979918691,0.00015662617333233326,0.003200822983497826,-0.0034363031059920484,0.08123550790370677,0.4777356025014476,0.2998922445797833,0.99999999999945,-1.9840615987581582e-11,8.708083932119431e-13,1.048455569503222e-06],"qvel":[-0.00030043890585546007,0.03974346615667095,-0.2534440024073901,0.21044596543588706,6.521015428332017e-07,3.6746248701206236e-06,-0.00012127727411417473,-4.618082920585036e-05,-2.198907199256819e-05,0.0002612979819458443,-9.627422759840484e-05,1.4905162890659268e-05,0.0002587747513249163,0.0002705859791428466,-1.667985895872881e-12,-3.800464419985543e-11,1.2728120584847518e-14,-7.05057455095172e-10,3.0944462794213034e-11,1.8915308974228645e-17],"joint_position_rad":[-2.019923145362513,-1.6141631328801436,1.404358363379399,-1.3611522104559732,-1.570774371671497,-0.4491354549207541],"joint_velocity_rad_s":[-0.00030043890585546007,0.03974346615667095,-0.2534440024073901,0.21044596543588706,6.521015428332017e-07,3.6746248701206236e-06],"linkage_position_rad":[0.0029329557492896816,0.0001559263048868271,0.0031928965328419353,-0.003428331967591196,0.002933111979918691,0.00015662617333233326,0.003200822983497826,-0.0034363031059920484],"tcp_position_m":[0.08118617181270904,0.47708484635148674,0.4134579169651355],"tcp_quaternion_wxyz":[-3.6867741582728715e-05,0.7071037248206489,0.7071098328915366,7.220551278699972e-05],"object_position_m":[0.08123550790370677,0.4777356025014476,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9840615987581582e-11,8.708083932119431e-13,1.048455569503222e-06],"object_linear_velocity_m_s":[-1.667985895872881e-12,-3.800464419985543e-11,1.2728120584847518e-14],"object_angular_velocity_rad_s":[-7.050575199814101e-10,3.0942984351313754e-11,1.8915309029111054e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484920505848,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019926664502409,-1.6154433644869461,1.3440703095688573,-1.3241246621549638,-1.5707715708921925,-0.44913474789783486,0.0],"actuator_force":[0.11313728255026945,-18.457849676273327,-19.19850665812737,-2.530822393083895,0.001335179497914396,-1.395102742662857e-05,-0.29221562895185577],"issued_joint_targets_rad":[-2.0199308354968863,-1.6050279647751682,1.3488516859762785,-1.3148768708873777,-1.5707726548802856,-0.4491345070108935],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.339999999999154,"joint_targets_rad":[-2.0199308354968863,-1.6050279647751682,1.3488516859762785,-1.3148768708873777,-1.5707726548802856,-0.4491345070108935],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.359999999999143,"qpos":[-2.019923029955873,-1.6132952512331185,1.399096894160341,-1.3567568192421935,-1.570774181818035,-0.44913536561251916,0.0029329523623783955,0.00015592545883027963,0.003192902827860922,-0.003428326759078449,0.0029331088087430424,0.0001566281036873923,0.0032008392452638583,-0.0034362957851098827,0.08123550790368247,0.4777356025008939,0.2998922445797833,0.99999999999945,-1.7729104350154422e-11,7.78128204664909e-13,1.0484555695033102e-06],"qvel":[-0.0003031424181221149,0.04068165889274115,-0.2545507253477927,0.2106138668147304,8.046987476797641e-07,4.4299768733785545e-06,-0.00012127204749368051,-4.6247851221618745e-05,-2.0439746727297297e-05,0.0002617570871049414,-9.619828551694856e-05,1.5149203225849254e-05,0.0002613452918653871,0.00027097357386050917,-2.1363599078494746e-12,-4.867698537331815e-11,1.2723957248505172e-14,-1.5743997328020676e-09,6.909988230842401e-11,3.453433512514295e-17],"joint_position_rad":[-2.019923029955873,-1.6132952512331185,1.399096894160341,-1.3567568192421935,-1.570774181818035,-0.44913536561251916],"joint_velocity_rad_s":[-0.0003031424181221149,0.04068165889274115,-0.2545507253477927,0.2106138668147304,8.046987476797641e-07,4.4299768733785545e-06],"linkage_position_rad":[0.0029329523623783955,0.00015592545883027963,0.003192902827860922,-0.003428326759078449,0.0029331088087430424,0.0001566281036873923,0.0032008392452638583,-0.0034362957851098827],"tcp_position_m":[0.08118852624996974,0.4770899667525315,0.4151572933664721],"tcp_quaternion_wxyz":[-3.665978927918152e-05,0.7071037156452935,0.7071098421672033,7.132287390592093e-05],"object_position_m":[0.08123550790368247,0.4777356025008939,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7729104350154422e-11,7.78128204664909e-13,1.0484555695033102e-06],"object_linear_velocity_m_s":[-2.1363599078494746e-12,-4.867698537331815e-11,1.2723957248505172e-14],"object_angular_velocity_rad_s":[-1.5743998776949179e-09,6.909658093193508e-11,3.453433519541308e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484697676387,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019926422952993,-1.6144010877595636,1.3385968989884924,-1.3196958340273295,-1.570771363809612,-0.4491345089911627,0.0],"actuator_force":[0.1144709730087925,-18.484336609986713,-19.179700204580058,-2.530894074041157,0.0013285343367215319,-1.4687009127101192e-05,-0.2922157068910188],"issued_joint_targets_rad":[-2.0199305532198752,-1.6039547162992267,1.3433435239999763,-1.3104432118976168,-1.5707724450949927,-0.4491342250963905],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.359999999999143,"joint_targets_rad":[-2.0199305532198752,-1.6039547162992267,1.3433435239999763,-1.3104432118976168,-1.5707724450949927,-0.4491342250963905],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.379999999999132,"qpos":[-2.0199228921333297,-1.6124077982778833,1.3938122579250698,-1.35235781836058,-1.570773989860564,-0.449135258046319,0.002932949440234291,0.0001559246000216573,0.003192909633409171,-0.0034283219962058073,0.002933106101545773,0.00015663004979783962,0.0032008561437399624,-0.003436288835157076,0.08123550790365601,0.4777356025002904,0.2998922445797833,0.99999999999945,-1.783226584912168e-11,7.8264987859553e-13,1.0484555695034409e-06],"qvel":[-0.00030576674557673025,0.041628307701207776,-0.25567242745968316,0.2107882433539504,9.666361567668753e-07,5.310300998667636e-06,-0.00012127369699755131,-4.6316834631522575e-05,-1.8866058470511773e-05,0.0002622358539580579,-9.612761742292462e-05,1.5397943437678886e-05,0.0002639588547693787,0.00027137434652213516,-9.621645217288107e-13,-2.1922908464594207e-11,1.2725345027285954e-14,6.639470944801516e-10,-2.9141424806050475e-11,3.741518026084301e-18],"joint_position_rad":[-2.0199228921333297,-1.6124077982778833,1.3938122579250698,-1.35235781836058,-1.570773989860564,-0.449135258046319],"joint_velocity_rad_s":[-0.00030576674557673025,0.041628307701207776,-0.25567242745968316,0.2107882433539504,9.666361567668753e-07,5.310300998667636e-06],"linkage_position_rad":[0.002932949440234291,0.0001559246000216573,0.003192909633409171,-0.0034283219962058073,0.002933106101545773,0.00015663004979783962,0.0032008561437399624,-0.003436288835157076],"tcp_position_m":[0.08119113908509457,0.4770956485242488,0.41685646214279515],"tcp_quaternion_wxyz":[-3.6450528179629555e-05,0.7071037049997938,0.707109852912596,7.043329821030753e-05],"object_position_m":[0.08123550790365601,0.4777356025002904,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.783226584912168e-11,7.8264987859553e-13,1.0484555695034409e-06],"object_linear_velocity_m_s":[-9.621645217288107e-13,-2.1922908464594207e-11,1.2725345027285954e-14],"object_angular_velocity_rad_s":[6.639471555856696e-10,-2.914003256792826e-11,3.741518040252663e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484468623347,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199261381520373,-1.6133378119326,1.3330975200685184,-1.3152621073602597,-1.5707711534105218,-0.44913422708009126,0.0],"actuator_force":[0.11581466081543113,-18.511350389916515,-19.160504729229615,-2.530968835234944,0.0013215614054615799,-1.554698599193216e-05,-0.29221577051690084],"issued_joint_targets_rad":[-2.0199302207259078,-1.6028598002609202,1.33780862488523,-1.3060045076903364,-1.5707722317418709,-0.4491338930365007],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.379999999999132,"joint_targets_rad":[-2.0199302207259078,-1.6028598002609202,1.33780862488523,-1.3060045076903364,-1.5707722317418709,-0.4491338930365007],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.399999999999121,"qpos":[-2.0199227279938197,-1.611500578905263,1.3885041221511838,-1.3479550714357547,-1.570773795663538,-0.44913512919921406,0.002932946892371952,0.00015592372782963988,0.0031929168443020095,-0.0034283176024269783,0.0029331037669684877,0.00015663201075162135,0.003200873581256176,-0.003436282162314064,0.0812355079036289,0.47773560249967256,0.2998922445797833,0.99999999999945,-1.8845985325054377e-11,8.271425227197088e-13,1.048455569503608e-06],"qvel":[-0.0003082982809757284,0.042584639759374356,-0.25681038597515893,0.2109691467144782,1.1392596903622228e-06,6.336391663849779e-06,-0.00012128174338618328,-4.638803282038352e-05,-1.7263040418368038e-05,0.00026273622126117335,-9.60615221272628e-05,1.5651874468770802e-05,0.0002666217482311647,0.0002717883500670846,-1.0457452671607148e-12,-2.3827280136960605e-11,1.2723957248505172e-14,5.254275444954052e-10,-2.3061545992345403e-11,6.831114797278658e-18],"joint_position_rad":[-2.0199227279938197,-1.611500578905263,1.3885041221511838,-1.3479550714357547,-1.570773795663538,-0.44913512919921406],"joint_velocity_rad_s":[-0.0003082982809757284,0.042584639759374356,-0.25681038597515893,0.2109691467144782,1.1392596903622228e-06,6.336391663849779e-06],"linkage_position_rad":[0.002932946892371952,0.00015592372782963988,0.0031929168443020095,-0.0034283176024269783,0.0029331037669684877,0.00015663201075162135,0.003200873581256176,-0.003436282162314064],"tcp_position_m":[0.08119403483854674,0.4771019468010411,0.41855542062363926],"tcp_quaternion_wxyz":[-3.624019367238955e-05,0.7071036925736381,0.7071098654381393,6.953725308536042e-05],"object_position_m":[0.0812355079036289,0.47773560249967256,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8845985325054377e-11,8.271425227197088e-13,1.048455569503608e-06],"object_linear_velocity_m_s":[-1.0457452671607148e-12,-2.3827280136960605e-11,1.2723957248505172e-14],"object_angular_velocity_rad_s":[5.254275928522623e-10,-2.306044421742389e-11,6.8311148046599895e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313484234355883,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199258029460148,-1.6122531037911003,1.3275715876842937,-1.310823334388484,-1.5707709394371845,-0.4491338950237376,0.0],"actuator_force":[0.11716940800033626,-18.538905675424303,-19.140914543716463,-2.5310461478125035,0.001314187207640316,-1.655142813206112e-05,-0.29221581663945473],"issued_joint_targets_rad":[-2.019928160043163,-1.6025765607035272,1.3370935985040482,-1.3055515952019927,-1.5707740988349281,-0.4491318372137779],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.399999999999121,"joint_targets_rad":[-2.019928160043163,-1.6025765607035272,1.3370935985040482,-1.3055515952019927,-1.5707740988349281,-0.4491318372137779],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.41999999999911,"qpos":[-2.019925422932238,-1.610674156756374,1.3835630484063515,-1.343908603830536,-1.5707739311188966,-0.4491348222744079,0.002930895444516896,0.0001556271221496365,0.0031916309090004357,-0.0034250992470020443,0.0029311743988185953,0.00015657139543164277,0.003200818269261643,-0.0034329869979788357,0.0812355079036025,0.4777356024990708,0.2998922445797833,0.99999999999945,-1.9483661112001425e-11,8.551052687726831e-13,1.0484555695037952e-06],"qvel":[-0.00014666790077419225,0.03931351786218896,-0.2356803573026015,0.1927739965379499,-2.8102496145169683e-06,1.5097745717519905e-05,-0.00010501958784835123,-5.482003183374837e-06,-7.868734274865689e-05,0.0001283842876830511,-0.00010358295265117156,-2.2592010357478995e-06,-6.0356243483163274e-05,0.00013176699604700278,-1.154499232926475e-12,-2.630609784179242e-11,1.27295083636283e-14,2.898442284347559e-10,-1.2722657268830894e-11,1.2471837039645518e-17],"joint_position_rad":[-2.019925422932238,-1.610674156756374,1.3835630484063515,-1.343908603830536,-1.5707739311188966,-0.4491348222744079],"joint_velocity_rad_s":[-0.00014666790077419225,0.03931351786218896,-0.2356803573026015,0.1927739965379499,-2.8102496145169683e-06,1.5097745717519905e-05],"linkage_position_rad":[0.002930895444516896,0.0001556271221496365,0.0031916309090004357,-0.0034250992470020443,0.0029311743988185953,0.00015657139543164277,0.003200818269261643,-0.0034329869979788357],"tcp_position_m":[0.08119901729124064,0.4771093179650115,0.4201486571739945],"tcp_quaternion_wxyz":[-4.742533186785393e-05,0.7071047513490918,0.7071088021081968,0.00010174225793594218],"object_position_m":[0.0812355079036025,0.4777356024990708,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9483661112001425e-11,8.551052687726831e-13,1.0484555695037952e-06],"object_linear_velocity_m_s":[-1.154499232926475e-12,-2.630609784179242e-11,1.27295083636283e-14],"object_angular_velocity_rad_s":[2.898442551124002e-10,-1.2722049491211732e-11,1.2471837101012587e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313471973296669,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199244470569195,-1.6119764470408755,1.3268646049592991,-1.310371941356649,-1.570772806893002,-0.44913183876746393,0.0],"actuator_force":[0.06061891094623206,-18.32998771387838,-19.12474397306414,-2.509068416851619,0.0008431379086459856,-1.802109977688815e-05,-0.29206047946427693],"issued_joint_targets_rad":[-2.0199260853371777,-1.6023986607576781,1.3368627711338485,-1.30547713332145,-1.5707760256365353,-0.4491297678360904],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.41999999999911,"joint_targets_rad":[-2.0199260853371777,-1.6023986607576781,1.3368627711338485,-1.30547713332145,-1.5707760256365353,-0.4491297678360904],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.439999999999099,"qpos":[-2.0199268693447583,-1.6099132861942522,1.379069487474334,-1.340241921540199,-1.570774154525772,-0.44913434732884144,0.002929141255503197,0.00015564606983005513,0.0031899820933397357,-0.003423411082844607,0.002929398401338442,0.00015652579092573208,0.003198928845226215,-0.0034312519134597763,0.08123550790357692,0.47773560249848834,0.2998922445797833,0.99999999999945,-1.954200036864718e-11,8.57653766742931e-13,1.0484555695039995e-06],"qvel":[-9.61958437709246e-05,0.03642222692523395,-0.21409803404916522,0.17470353618297416,-9.039879803403468e-06,2.3126613506144015e-05,-7.731456136936221e-05,1.996343846297391e-06,-7.038513703120935e-05,7.217757081300053e-05,-7.806923009147886e-05,-4.322139831901131e-07,-8.536555651507134e-05,6.721731426766878e-05,-1.3143813561820101e-12,-2.9949420685016957e-11,1.2728120584847516e-14,-8.090104827017598e-11,3.549986481166703e-12,2.2770399122869633e-17],"joint_position_rad":[-2.0199268693447583,-1.6099132861942522,1.379069487474334,-1.340241921540199,-1.570774154525772,-0.44913434732884144],"joint_velocity_rad_s":[-9.61958437709246e-05,0.03642222692523395,-0.21409803404916522,0.17470353618297416,-9.039879803403468e-06,2.3126613506144015e-05],"linkage_position_rad":[0.002929141255503197,0.00015564606983005513,0.0031899820933397357,-0.003423411082844607,0.002929398401338442,0.00015652579092573208,0.003198928845226215,-0.0034312519134597763],"tcp_position_m":[0.08120317939075641,0.4771162724729036,0.42159305369867683],"tcp_quaternion_wxyz":[-5.820998869043667e-05,0.7071054274126305,0.7071081200661986,0.00013293473538934642],"object_position_m":[0.08123550790357692,0.47773560249848834,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.954200036864718e-11,8.57653766742931e-13,1.0484555695039995e-06],"object_linear_velocity_m_s":[-1.3143813561820101e-12,-2.9949420685016957e-11,1.2728120584847516e-14],"object_angular_velocity_rad_s":[-8.090105571400426e-11,3.5498168388496212e-12,2.2770399148694468e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313487987449906,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019923047925353,-1.6118044774566624,1.3266412039289182,-1.3102989433077448,-1.5707747343266845,-0.4491297689744055,0.0],"actuator_force":[0.04612117631904766,-18.351273294914336,-19.217353471166007,-2.498864502070319,0.0006140875241271715,-2.348413261188398e-05,-0.2921500638847777],"issued_joint_targets_rad":[-2.0199241755404294,-1.6022505640697249,1.3366689725855092,-1.3054117646545562,-1.5707777999277603,-0.4491278625263252],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.439999999999099,"joint_targets_rad":[-2.0199241755404294,-1.6022505640697249,1.3366689725855092,-1.3054117646545562,-1.5707777999277603,-0.4491278625263252],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.459999999999088,"qpos":[-2.0199278192449333,-1.6092084020667266,1.3749894806579654,-1.3369189647883586,-1.570774505308204,-0.44913373469157014,0.002927900650279024,0.00015570762206821846,0.0031886952878560386,-0.0034223857204423165,0.002928132121643515,0.00015650577190490063,0.0031972316684924116,-0.0034302875827274914,0.08123550790355248,0.477735602497931,0.2998922445797833,0.99999999999945,-1.872949005937299e-11,8.219861977131418e-13,1.0484555695042098e-06],"qvel":[-7.348593626798204e-05,0.03375815921516845,-0.1943784489578592,0.15833417596388297,-1.6027842415863874e-05,2.96540773400901e-05,-5.3317496618432234e-05,2.230556705182369e-06,-5.011497492668867e-05,4.798218954436688e-05,-5.38996596524937e-05,-1.0889313777655753e-07,-6.584459754121192e-05,4.1453796713727446e-05,-1.5702849741833252e-12,-3.5781151062709445e-11,1.273089614240908e-14,-6.395219848171978e-10,2.8065734305585336e-11,4.157308589510219e-17],"joint_position_rad":[-2.0199278192449333,-1.6092084020667266,1.3749894806579654,-1.3369189647883586,-1.570774505308204,-0.44913373469157014],"joint_velocity_rad_s":[-7.348593626798204e-05,0.03375815921516845,-0.1943784489578592,0.15833417596388297,-1.6027842415863874e-05,2.96540773400901e-05],"linkage_position_rad":[0.002927900650279024,0.00015570762206821846,0.0031886952878560386,-0.0034223857204423165,0.002928132121643515,0.00015650577190490063,0.0031972316684924116,-0.0034302875827274914],"tcp_position_m":[0.08120710356486245,0.477123190071988,0.4228973237094784],"tcp_quaternion_wxyz":[-6.66508413071055e-05,0.7071059767627175,0.7071075649020395,0.00015761476991293748],"object_position_m":[0.08123550790355248,0.477735602497931,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.872949005937299e-11,8.219861977131418e-13,1.0484555695042098e-06],"object_linear_velocity_m_s":[-1.5702849741833252e-12,-3.5781151062709445e-11,1.273089614240908e-14],"object_angular_velocity_rad_s":[-6.395220436671423e-10,2.806439328475001e-11,4.157308596297311e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313504646677481,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019921695593391,-1.6116621791751269,1.3264542636250845,-1.3102347828621175,-1.5707765096749995,-0.4491278633247028,0.0],"actuator_force":[0.041641677591996995,-18.410817902868075,-19.319054482618412,-2.491326633267704,0.0006006008438816934,-2.9724300304678763e-05,-0.29226555281477234],"issued_joint_targets_rad":[-2.0199224201545567,-1.6021275002676998,1.3365065215018468,-1.3053544270666764,-1.5707794311875025,-0.4491261107444679],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.459999999999088,"joint_targets_rad":[-2.0199224201545567,-1.6021275002676998,1.3365065215018468,-1.3053544270666764,-1.5707794311875025,-0.4491261107444679],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.479999999999077,"qpos":[-2.019928494290206,-1.608556137564309,1.3712865611669465,-1.3339075675279788,-1.5707749765048618,-0.4491330121423143,0.002927080421624594,0.0001557655147753243,0.00318781124246216,-0.0034217497792614878,0.0029272899464701228,0.00015648946425751524,0.0031959613736715965,-0.0034297240292586574,0.08123550790352832,0.47773560249738034,0.2998922445797833,0.99999999999945,-1.7834089392509737e-11,7.826800730768839e-13,1.048455569504443e-06],"qvel":[-5.570682815443297e-05,0.03122870230596766,-0.17641010896747583,0.1434915743687735,-2.1978718886974775e-05,3.4853765223526546e-05,-3.426446747606474e-05,2.088569714453516e-06,-3.231205601117377e-05,2.9713945241737894e-05,-3.481218508645756e-05,-1.4216049991780134e-07,-4.697793303198872e-05,2.3902581171717345e-05,-2.0038543393670148e-12,-4.566126498372524e-11,1.2725345027285954e-14,-1.4508751152995156e-09,6.367303530778451e-11,7.59019690776104e-17],"joint_position_rad":[-2.019928494290206,-1.608556137564309,1.3712865611669465,-1.3339075675279788,-1.5707749765048618,-0.4491330121423143],"joint_velocity_rad_s":[-5.570682815443297e-05,0.03122870230596766,-0.17641010896747583,0.1434915743687735,-2.1978718886974775e-05,3.4853765223526546e-05],"linkage_position_rad":[0.002927080421624594,0.0001557655147753243,0.00318781124246216,-0.0034217497792614878,0.0029272899464701228,0.00015648946425751524,0.0031959613736715965,-0.0034297240292586574],"tcp_position_m":[0.08121089474715373,0.47713005517683366,0.4240745882884849],"tcp_quaternion_wxyz":[-7.290526263815022e-05,0.707106468262866,0.707107068393066,0.00017622202661517135],"object_position_m":[0.08123550790352832,0.47773560249738034,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7834089392509737e-11,7.826800730768839e-13,1.048455569504443e-06],"object_linear_velocity_m_s":[-2.0038543393670148e-12,-4.566126498372524e-11,1.2725345027285954e-14],"object_angular_velocity_rad_s":[-1.4508752488130217e-09,6.36699929514539e-11,7.590196917284789e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313517507057566,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199203958235277,-1.611544760275724,1.3262981297977943,-1.3101784287183194,-1.5707781424042073,-0.44912611126907015,0.0],"actuator_force":[0.03847966461808028,-18.468726345216965,-19.412819151314125,-2.484588032047668,0.0006149222159592682,-3.4939900245944955e-05,-0.2923731351419232],"issued_joint_targets_rad":[-2.01992080900258,-1.6020251422264455,1.3363702455100972,-1.3053041363121318,-1.5707809287307497,-0.4491245024061374],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.479999999999077,"joint_targets_rad":[-2.01992080900258,-1.6020251422264455,1.3363702455100972,-1.3053041363121318,-1.5707809287307497,-0.4491245024061374],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.499999999999066,"qpos":[-2.019928935012968,-1.6079537167473934,1.3679269630919393,-1.3311786623254234,-1.5707755459591124,-0.449132203997291,0.0029265885172615105,0.00015581801155995168,0.0031872558436348594,-0.003421412817124653,0.002926778224143912,0.00015647442479896297,0.003195053722684467,-0.003429453724917781,0.08123550790350292,0.47773560249680164,0.2998922445797833,0.99999999999945,-1.7517652804406834e-11,7.687838667606189e-13,1.0484555695047307e-06],"qvel":[-4.0097289570395845e-05,0.028832240159978963,-0.16005238431118754,0.1300328154948478,-2.6763939828763507e-05,3.889660818529288e-05,-1.9525443967811936e-05,1.9219268079032583e-06,-1.8368518455527615e-05,1.566813764619831e-05,-2.005078664285674e-05,-1.8567764507496568e-07,-3.1868202005639626e-05,1.0607253259301382e-05,-9.38029540830817e-13,-2.1374575147346142e-11,1.2726732806066736e-14,6.662503885768664e-10,-2.9240437826841185e-11,8.223352942428942e-18],"joint_position_rad":[-2.019928935012968,-1.6079537167473934,1.3679269630919393,-1.3311786623254234,-1.5707755459591124,-0.449132203997291],"joint_velocity_rad_s":[-4.0097289570395845e-05,0.028832240159978963,-0.16005238431118754,0.1300328154948478,-2.6763939828763507e-05,3.889660818529288e-05],"linkage_position_rad":[0.0029265885172615105,0.00015581801155995168,0.0031872558436348594,-0.003421412817124653,0.002926778224143912,0.00015647442479896297,0.003195053722684467,-0.003429453724917781],"tcp_position_m":[0.08121453059265522,0.477136791079532,0.42513718777928405],"tcp_quaternion_wxyz":[-7.730089888155438e-05,0.707106907767031,0.7071066249454153,0.00018966027982991268],"object_position_m":[0.08123550790350292,0.47773560249680164,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7517652804406834e-11,7.687838667606189e-13,1.0484555695047307e-06],"object_linear_velocity_m_s":[-9.38029540830817e-13,-2.1374575147346142e-11,1.2726732806066736e-14],"object_angular_velocity_rad_s":[6.662504498900009e-10,-2.9239040758915706e-11,8.223352960483925e-18],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313526969442644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199191566197796,-1.611447846060532,1.3261676612936202,-1.3101289338281337,-1.570779641755816,-0.4491245027118311,0.0],"actuator_force":[0.03559570220522801,-18.52115469026876,-19.497649872163493,-2.478417300839965,0.0006284956310764755,-3.901808858586264e-05,-0.2924704559172177],"issued_joint_targets_rad":[-2.019919332168379,-1.6019398949351165,1.336255800866013,-1.3052600148593245,-1.5707823016789593,-0.44912302769605167],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.499999999999066,"joint_targets_rad":[-2.019919332168379,-1.6019398949351165,1.336255800866013,-1.3052600148593245,-1.5707823016789593,-0.44912302769605167],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.519999999999055,"qpos":[-2.019929163551994,-1.6073983210129674,1.3648797234784542,-1.328705885362119,-1.5707761924468868,-0.44913133131911337,0.0029263483539724872,0.0001558653349658588,0.0031869546854806194,-0.0034213025804720252,0.0029265201033908976,0.00015646038718741405,0.0031944325730032873,-0.003429404139244062,0.08123550790347522,0.4777356024961702,0.2998922445797833,0.99999999999945,-1.8986742570108146e-11,8.332454571507643e-13,1.0484555695051455e-06],"qvel":[-2.629943283626207e-05,0.02657316524196775,-0.14517032028000632,0.11782970893605156,-3.051034479746935e-05,4.193831443604176e-05,-8.278577695850158e-06,1.7604359878446332e-06,-7.71873173854545e-06,5.01639850651464e-06,-8.778812849195378e-06,-2.194676581187292e-07,-2.011374513225037e-05,6.026476523865273e-07,-1.040162709973121e-12,-2.3702198850865804e-11,1.27295083636283e-14,5.647211950403629e-10,-2.4784203324396817e-11,1.5013805881176907e-17],"joint_position_rad":[-2.019929163551994,-1.6073983210129674,1.3648797234784542,-1.328705885362119,-1.5707761924468868,-0.44913133131911337],"joint_velocity_rad_s":[-2.629943283626207e-05,0.02657316524196775,-0.14517032028000632,0.11782970893605156,-3.051034479746935e-05,4.193831443604176e-05],"linkage_position_rad":[0.0029263483539724872,0.0001558653349658588,0.0031869546854806194,-0.0034213025804720252,0.0029265201033908976,0.00015646038718741405,0.0031944325730032873,-0.003429404139244062],"tcp_position_m":[0.08121798565342943,0.47714333378460394,0.4260963088754987],"tcp_quaternion_wxyz":[-8.01415234760508e-05,0.7071072956761347,0.7071062342186095,0.00019876643419176228],"object_position_m":[0.08123550790347522,0.4777356024961702,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8986742570108146e-11,8.332454571507643e-13,1.0484555695051455e-06],"object_linear_velocity_m_s":[-1.040162709973121e-12,-2.3702198850865804e-11,1.27295083636283e-14],"object_angular_velocity_rad_s":[5.647212470093931e-10,-2.4783019154177996e-11,1.501380589848606e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313533718284761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199179833934724,-1.6113678057110328,1.326058546382955,-1.310085452913566,-1.5707810167797025,-0.4491230278279788,0.0],"actuator_force":[0.03288009017751392,-18.568235492917665,-19.574226078996162,-2.4727546693285376,0.0006388680719737749,-4.2085876344799544e-05,-0.292558135915444],"issued_joint_targets_rad":[-2.0199179800462095,-1.601868795395458,1.3361595675036664,-1.305221285770026,-1.5707835588880066,-0.4491216771041859],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.519999999999055,"joint_targets_rad":[-2.0199179800462095,-1.601868795395458,1.3361595675036664,-1.305221285770026,-1.5707835588880066,-0.4491216771041859],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.539999999999043,"qpos":[-2.019929201238484,-1.6068870867364071,1.3621165126322259,-1.3264653159175286,-1.570776897431164,-0.4491304122394986,0.002926298572696898,0.00015590796478632792,0.003186846916325292,-0.0034213618161898916,0.002926454050859583,0.00015644729155833953,0.0031940342993982645,-0.0034295184855086497,0.08123550790344794,0.4777356024955483,0.2998922445797833,0.99999999999945,-1.9941781931758128e-11,8.751231567274711e-13,1.0484555695056125e-06],"qvel":[-1.4198994591828955e-05,0.0244533836017913,-0.13163823636988203,0.10676601024087824,-3.3358089997889744e-05,4.4118523864900325e-05,1.8412457387750493e-07,1.610204531956052e-06,2.920219133774664e-07,-2.9484600956644355e-06,-2.891882393748524e-07,-2.418420456376065e-07,-1.1074666933159074e-05,-6.806816096627214e-06,-1.1555091723513785e-12,-2.6331696067849917e-11,1.2735059478751425e-14,3.608895286435575e-10,-1.5839422134772404e-11,2.741129706410351e-17],"joint_position_rad":[-2.019929201238484,-1.6068870867364071,1.3621165126322259,-1.3264653159175286,-1.570776897431164,-0.4491304122394986],"joint_velocity_rad_s":[-1.4198994591828955e-05,0.0244533836017913,-0.13163823636988203,0.10676601024087824,-3.3358089997889744e-05,4.4118523864900325e-05],"linkage_position_rad":[0.002926298572696898,0.00015590796478632792,0.003186846916325292,-0.0034213618161898916,0.002926454050859583,0.00015644729155833953,0.0031940342993982645,-0.0034295184855086497],"tcp_position_m":[0.08122124312216704,0.4771496365036869,0.4269620483098452],"tcp_quaternion_wxyz":[-8.169083698623015e-05,0.707107633085452,0.7071058950637858,0.0002042668328461782],"object_position_m":[0.08123550790344794,0.4777356024955483,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9941781931758128e-11,8.751231567274711e-13,1.0484555695056125e-06],"object_linear_velocity_m_s":[-1.1555091723513785e-12,-2.6331696067849917e-11,1.2735059478751425e-14],"object_angular_velocity_rad_s":[3.6088956185662455e-10,-1.5838665381465004e-11,2.7411297136020616e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313538339433598,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199168790949145,-1.6113016529707649,1.3259671968899631,-1.3100472360665143,-1.570782276268969,-0.4491216770994043,0.0],"actuator_force":[0.030323884975587134,-18.6104859094321,-19.643336936572723,-2.4675610985806316,0.0006463900972448755,-4.428233933140291e-05,-0.29263710585949654],"issued_joint_targets_rad":[-2.019916743411143,-1.601809403081814,1.3360785322686328,-1.3051872650489513,-1.5707847088769433,-0.4491204414935553],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.539999999999043,"joint_targets_rad":[-2.019916743411143,-1.601809403081814,1.3360785322686328,-1.3051872650489513,-1.5707847088769433,-0.4491204414935553],"gripper_0_255":0.0,"phase":"retreat"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.559999999999032,"qpos":[-2.0199290696893986,-1.6064171568271504,1.3596114416007206,-1.324435250630493,-1.570777644973732,-0.4491294622738216,0.002926390429429517,0.0001559463749339053,0.0031868840229915285,-0.003421545300350369,0.0029265311655242133,0.00015643510925490703,0.0031938077388968915,-0.0034297520275522325,0.08123550790342134,0.4777356024949418,0.2998922445797833,0.99999999999945,-2.0266050080298745e-11,8.893211356669343e-13,1.0484555695061243e-06],"qvel":[-3.6914723007185737e-06,0.02247214083487493,-0.11933977056556533,0.09673615920788453,-3.5434681034240226e-05,4.556179788470805e-05,6.4387224287059345e-06,1.4712638997774513e-06,6.209069879511759e-06,-8.78688818787905e-06,5.993328098621951e-06,-2.5476720343437873e-07,-4.203486863285041e-06,-1.2168366582822851e-05,-1.3105084723184418e-12,-2.9865013382610136e-11,1.2728120584847516e-14,2.1892875819258678e-11,-9.631908459936746e-13,5.004608556596199e-17],"joint_position_rad":[-2.0199290696893986,-1.6064171568271504,1.3596114416007206,-1.324435250630493,-1.570777644973732,-0.4491294622738216],"joint_velocity_rad_s":[-3.6914723007185737e-06,0.02247214083487493,-0.11933977056556533,0.09673615920788453,-3.5434681034240226e-05,4.556179788470805e-05],"linkage_position_rad":[0.002926390429429517,0.0001559463749339053,0.0031868840229915285,-0.003421545300350369,0.0029265311655242133,0.00015643510925490703,0.0031938077388968915,-0.0034297520275522325],"tcp_position_m":[0.08122429406751593,0.4771556669497406,0.42774351478685824],"tcp_quaternion_wxyz":[-8.217553529008073e-05,0.7071079220861404,0.7071056052739185,0.00020678589665945442],"object_position_m":[0.08123550790342134,0.4777356024949418,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0266050080298745e-11,8.893211356669343e-13,1.0484555695061243e-06],"object_linear_velocity_m_s":[-1.3105084723184418e-12,-2.9865013382610136e-11,1.2728120584847516e-14],"object_angular_velocity_rad_s":[2.1892877838936143e-11,-9.63144938576384e-13,5.0046085665583267e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313541306787623,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019915844750244,-1.6112469341146818,1.3258906309135916,-1.3100136218295597,-1.570783428688551,-0.44912044138243185,0.0],"actuator_force":[0.027926467229463015,-18.64841090901291,-19.70571314803192,-2.4628015203218183,0.0006516106940352984,-4.57340935895445e-05,-0.2927082400003232],"issued_joint_targets_rad":[-2.0199156134707814,-1.6017597072502252,1.3360101881252349,-1.3051573531740996,-1.5707857597762893,-0.4491193121511881],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.559999999999032,"joint_targets_rad":[-2.0199156134707814,-1.6017597072502252,1.3360101881252349,-1.3051573531740996,-1.5707857597762893,-0.4491193121511881],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.579999999999021,"qpos":[-2.019928790288651,-1.605985724996575,1.3573408755007843,-1.3225959997259626,-1.5707784214646,-0.44912849461228743,0.0029265853901480733,0.00015598099271544542,0.0031870275775358753,-0.0034218174153267523,0.002926712771262997,0.000156423807850915,0.003193712035026024,-0.0034300696048353025,0.08123550790339568,0.4777356024943577,0.2998922445797833,0.99999999999945,-1.9726028578232342e-11,8.656078438472427e-13,1.0484555695066609e-06],"qvel":[5.337120367535848e-06,0.020626622666788327,-0.1081674812912036,0.08764428141824626,-3.685334655768018e-05,4.637880582589152e-05,1.0950422613976207e-05,1.34304514341735e-06,1.0474009443570083e-05,-1.2949969789204927e-05,1.0533264853376888e-05,-2.6032882801586576e-07,9.449688291779328e-07,-1.592088079438399e-05,-1.5482706684571787e-12,-3.528389940448064e-11,1.2733671699970643e-14,-5.000623607475764e-10,2.1942700850513867e-11,9.137189219680031e-17],"joint_position_rad":[-2.019928790288651,-1.605985724996575,1.3573408755007843,-1.3225959997259626,-1.5707784214646,-0.44912849461228743],"joint_velocity_rad_s":[5.337120367535848e-06,0.020626622666788327,-0.1081674812912036,0.08764428141824626,-3.685334655768018e-05,4.637880582589152e-05],"linkage_position_rad":[0.0029265853901480733,0.00015598099271544542,0.0031870275775358753,-0.0034218174153267523,0.002926712771262997,0.000156423807850915,0.003193712035026024,-0.0034300696048353025],"tcp_position_m":[0.08122713567551185,0.4771614044036069,0.4284489257357009],"tcp_quaternion_wxyz":[-8.178992052559791e-05,0.7071081654957089,0.707105361886824,0.00020685890187994432],"object_position_m":[0.08123550790339568,0.4777356024943577,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9726028578232342e-11,8.656078438472427e-13,1.0484555695066609e-06],"object_linear_velocity_m_s":[-1.5482706684571787e-12,-3.528389940448064e-11,1.2733671699970643e-14],"object_angular_velocity_rad_s":[-5.000624067583705e-10,2.1941652264131162e-11,9.137189224864014e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931354300002866,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199148799335562,-1.6112016329374315,1.325826371679595,-1.3099840294446266,-1.570784482122651,-0.4491193119585551,0.0],"actuator_force":[0.025685862042791996,-18.682464948427878,-19.76201512589705,-2.4584430011565246,0.000655005630164851,-4.655371640183148e-05,-0.29277232650789026],"issued_joint_targets_rad":[-2.019914581898374,-1.6017180505389963,1.3359524494839747,-1.305131026435984,-1.5707867192943334,-0.4491182808211363],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.579999999999021,"joint_targets_rad":[-2.019914581898374,-1.6017180505389963,1.3359524494839747,-1.305131026435984,-1.5707867192943334,-0.4491182808211363],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.59999999999901,"qpos":[-2.0199283836760413,-1.6055900686193532,1.355283256461127,-1.3209297020280382,-1.5707792153546827,-0.4491275203866097,0.0029268531503644814,0.0001560122006796108,0.003187247296781454,-0.003422150268386979,0.002926968434544436,0.00015641334935873142,0.0031937146877764728,-0.003430443741867484,0.08123550790337153,0.4777356024938067,0.2998922445797833,0.99999999999945,-1.7954630845556405e-11,7.878665580336063e-13,1.048455569507174e-06],"qvel":[1.3007042216528094e-05,0.01891251404533834,-0.09802237403426323,0.07940330161501478,-3.7714070587063624e-05,4.6667503803613816e-05,1.4093944765249627e-05,1.2249297727982004e-06,1.3442547116762659e-05,-1.5800797867234312e-05,1.3704812215218155e-05,-2.6025892949274126e-07,4.730149637540657e-06,-1.8417179871914655e-05,-1.9398047128858864e-12,-4.420801933844095e-11,1.2729508363628298e-14,-1.2729184626889124e-09,5.585402144206584e-11,1.6682191287740318e-16],"joint_position_rad":[-2.0199283836760413,-1.6055900686193532,1.355283256461127,-1.3209297020280382,-1.5707792153546827,-0.4491275203866097],"joint_velocity_rad_s":[1.3007042216528094e-05,0.01891251404533834,-0.09802237403426323,0.07940330161501478,-3.7714070587063624e-05,4.6667503803613816e-05],"linkage_position_rad":[0.0029268531503644814,0.0001560122006796108,0.003187247296781454,-0.003422150268386979,0.002926968434544436,0.00015641334935873142,0.0031937146877764728,-0.003430443741867484],"tcp_position_m":[0.08122976971936788,0.4771668372442795,0.42908569497232363],"tcp_quaternion_wxyz":[-8.070014138317255e-05,0.7071083665937492,0.7071051614708272,0.0002049437035329698],"object_position_m":[0.08123550790337153,0.4777356024938067,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7954630845556405e-11,7.878665580336063e-13,1.048455569507174e-06],"object_linear_velocity_m_s":[-1.9398047128858864e-12,-4.420801933844095e-11,1.2729508363628298e-14],"object_angular_velocity_rad_s":[-1.2729185798070327e-09,5.5851352245039543e-11,1.6682191302852302e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313543722202895,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199139831466915,-1.6111640924703194,1.3257723626189095,-1.309957950807661,-1.57078544424017,-0.4491182805672488,0.0],"actuator_force":[0.023598241813033383,-18.713053320067957,-19.812838070729413,-2.4544545513128924,0.0006569643149987314,-4.684069989480122e-05,-0.2928300730303482],"issued_joint_targets_rad":[-2.0199136408507874,-1.6016830661849544,1.3359035813915066,-1.3051078285048345,-1.570787594698045,-0.44911733972270795],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.59999999999901,"joint_targets_rad":[-2.0199136408507874,-1.6016830661849544,1.3359035813915066,-1.3051078285048345,-1.570787594698045,-0.44911733972270795],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.619999999999,"qpos":[-2.019927869383758,-1.6052275719566365,1.3534189368795264,-1.3194201568609978,-1.5707800169112849,-0.44912654891293236,0.0029271700235460668,0.00015604034132484204,0.003187519452912234,-0.0034225221686646407,0.0029272743516063756,0.00015640369186454444,0.0031937899474349133,-0.003430853127721567,0.08123550790334674,0.4777356024932419,0.2998922445797833,0.99999999999945,-1.7031042866227462e-11,7.473267798594091e-13,1.048455569507807e-06],"qvel":[1.9440450742710206e-05,0.017324449539609658,-0.08881340668085157,0.07193414247073583,-3.810484377475527e-05,4.651427079752339e-05,1.6170459612703222e-05,1.116297837380147e-06,1.5400463595734e-05,-1.7631001154042707e-05,1.5808741122370998e-05,-2.559591682760397e-07,7.441605480667647e-06,-1.9940341908919964e-05,-9.166828765761819e-13,-2.0891014803462513e-11,1.2726732806066734e-14,6.691541119853438e-10,-2.9363563529557614e-11,1.807378459094773e-17],"joint_position_rad":[-2.019927869383758,-1.6052275719566365,1.3534189368795264,-1.3194201568609978,-1.5707800169112849,-0.44912654891293236],"joint_velocity_rad_s":[1.9440450742710206e-05,0.017324449539609658,-0.08881340668085157,0.07193414247073583,-3.810484377475527e-05,4.651427079752339e-05],"linkage_position_rad":[0.0029271700235460668,0.00015604034132484204,0.003187519452912234,-0.0034225221686646407,0.0029272743516063756,0.00015640369186454444,0.0031937899474349133,-0.003430853127721567],"tcp_position_m":[0.08123220133141595,0.4771719609346526,0.42966051169879393],"tcp_quaternion_wxyz":[-7.904791669416198e-05,0.7071085289140343,0.7071050003457776,0.00020143101605857156],"object_position_m":[0.08123550790334674,0.4777356024932419,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7031042866227462e-11,7.473267798594091e-13,1.048455569507807e-06],"object_linear_velocity_m_s":[-9.166828765761819e-13,-2.0891014803462513e-11,1.2726732806066734e-14],"object_angular_velocity_rad_s":[6.691541735566556e-10,-2.9362160372781896e-11,1.8073784597647353e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313543714353754,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199131521202034,-1.6111329506985568,1.3257268963906086,-1.309934942554306,-1.5707863222748157,-0.449117339424037,0.0],"actuator_force":[0.021658346811818774,-18.740537299684547,-19.85871830549513,-2.4508070937278035,0.000657802612067826,-4.668263204621326e-05,-0.2928821147612975],"issued_joint_targets_rad":[-2.019912782974568,-1.6016536264408268,1.3358621404172268,-1.3050873624824562,-1.5707883928055226,-0.44911648155700323],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.619999999999,"joint_targets_rad":[-2.019912782974568,-1.6016536264408268,1.3358621404172268,-1.3050873624824562,-1.5707883928055226,-0.44911648155700323],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.639999999998988,"qpos":[-2.0199272656020635,-1.604895741742488,1.3517300231414702,-1.3180526712528757,-1.5707808179971467,-0.44912558791212276,0.002927517632887409,0.00015606572152696067,0.0031878255818785484,-0.003422916392173786,0.002927612039158996,0.0001563947910920703,0.0031939175067259608,-0.003431281384288731,0.08123550790332028,0.47773560249263924,0.2998922445797833,0.99999999999945,-1.804868484443315e-11,7.919771615383923e-13,1.0484555695087198e-06],"qvel":[2.4757981220861978e-05,0.015856367548266873,-0.08045698947177388,0.06516499784108934,-3.8102858138662135e-05,4.599498954411485e-05,1.7421445821140328e-05,1.0165388529727208e-06,1.6576805079020033e-05,-1.867422188517149e-05,1.708623658288307e-05,-2.485545437886929e-07,9.312136573673384e-06,-2.071688156633771e-05,-9.918870789259846e-13,-2.2604998946358496e-11,1.2735059478751423e-14,5.517743927042495e-10,-2.421276336189874e-11,3.2998204429343614e-17],"joint_position_rad":[-2.0199272656020635,-1.604895741742488,1.3517300231414702,-1.3180526712528757,-1.5707808179971467,-0.44912558791212276],"joint_velocity_rad_s":[2.4757981220861978e-05,0.015856367548266873,-0.08045698947177388,0.06516499784108934,-3.8102858138662135e-05,4.599498954411485e-05],"linkage_position_rad":[0.002927517632887409,0.00015606572152696067,0.0031878255818785484,-0.003422916392173786,0.002927612039158996,0.0001563947910920703,0.0031939175067259608,-0.003431281384288731],"tcp_position_m":[0.08123443803272168,0.4771767763896582,0.4301794116643878],"tcp_quaternion_wxyz":[-7.695378644777314e-05,0.7071086560874235,0.7071048747475873,0.00019665337838247236],"object_position_m":[0.08123550790332028,0.47773560249263924,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.804868484443315e-11,7.919771615383923e-13,1.0484555695087198e-06],"object_linear_velocity_m_s":[-9.918870789259846e-13,-2.2604998946358496e-11,1.2735059478751423e-14],"object_angular_velocity_rad_s":[5.517744434750492e-10,-2.4211606339975205e-11,3.2998204440056234e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313543167456682,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019912384050229,-1.6111070877927456,1.3256885556658167,-1.3099146185471209,-1.5707871230168204,-0.4491164812268925,0.0],"actuator_force":[0.019859911180446943,-18.765239119822127,-19.900139162597497,-2.447473431231515,0.0006577759769470504,-4.6156339294611826e-05,-0.2929290220143404],"issued_joint_targets_rad":[-2.019912001402821,-1.601628800192597,1.3358269253698616,-1.3050692835807713,-1.5707891199873731,-0.4491156995043953],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.639999999998988,"joint_targets_rad":[-2.019912001402821,-1.601628800192597,1.3358269253698616,-1.3050692835807713,-1.5707891199873731,-0.4491156995043953],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.659999999998977,"qpos":[-2.0199265890450007,-1.6045922168107056,1.3502002297249447,-1.3168139210344576,-1.5707816118716638,-0.449124643708727,0.002927881850647417,0.00015608861646580063,0.0031881514358640707,-0.0034233201814184476,0.0029279672727551284,0.00015638660166414695,0.003194081438229695,-0.0034317160689132055,0.08123550790329453,0.47773560249205216,0.2998922445797833,0.99999999999945,-1.8757147978967644e-11,8.230710870947772e-13,1.0484555695097466e-06],"qvel":[2.9076283748469766e-05,0.014501786076419259,-0.07287648893701794,0.05903067255465789,-3.777561500833627e-05,4.5176065188911224e-05,1.803999163163693e-05,9.250568220961285e-07,1.715464731987298e-05,-1.9117102612000806e-05,1.7730178993670934e-05,-2.3894210141217893e-07,1.0528527116065233e-05,-2.0927486640384627e-05,-1.0882114463463853e-12,-2.4800031872368355e-11,1.2736447257532205e-14,3.491245896823394e-10,-1.5319567819431582e-11,6.024659486617244e-17],"joint_position_rad":[-2.0199265890450007,-1.6045922168107056,1.3502002297249447,-1.3168139210344576,-1.5707816118716638,-0.449124643708727],"joint_velocity_rad_s":[2.9076283748469766e-05,0.014501786076419259,-0.07287648893701794,0.05903067255465789,-3.777561500833627e-05,4.5176065188911224e-05],"linkage_position_rad":[0.002927881850647417,0.00015608861646580063,0.0031881514358640707,-0.0034233201814184476,0.0029279672727551284,0.00015638660166414695,0.003194081438229695,-0.0034317160689132055],"tcp_position_m":[0.0812364889722152,0.4771812886589027,0.4306478412757315],"tcp_quaternion_wxyz":[-7.45199479253309e-05,0.7071087517257565,0.707104780947983,0.0001908929661483684],"object_position_m":[0.08123550790329453,0.47773560249205216,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8757147978967644e-11,8.230710870947772e-13,1.0484555695097466e-06],"object_linear_velocity_m_s":[-1.0882114463463853e-12,-2.4800031872368355e-11,1.2736447257532205e-14],"object_angular_velocity_rad_s":[3.4912462180534395e-10,-1.5318835736156877e-11,6.024659484650416e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313542232123459,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01991167578364,-1.6110855827925374,1.325656163791775,-1.3098966429191614,-1.570787852813659,-0.4491156991536059,0.0],"actuator_force":[0.01819600922135578,-18.78744639423121,-19.93753629153207,-2.4444281978177287,0.0006570905031821894,-4.5328958321988466e-05,-0.29297130702325375],"issued_joint_targets_rad":[-2.0199112897451363,-1.6016078181333206,1.3357969362577806,-1.30505329249055,-1.5707897821748862,-0.4491149872151144],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.659999999998977,"joint_targets_rad":[-2.0199112897451363,-1.6016078181333206,1.3357969362577806,-1.30505329249055,-1.5707897821748862,-0.4491149872151144],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.679999999998966,"qpos":[-2.01992585489128,-1.6043147731173943,1.348814743470151,-1.3156918245694678,-1.5707823930126479,-0.4491237214099665,0.0029282519392035272,0.00015610927308195443,0.003188486134710076,-0.0034237239359872496,0.002928329226965401,0.00015637907808385031,0.0031942693319529955,-0.003432147867726058,0.08123550790326808,0.47773560249144886,0.2998922445797833,0.99999999999945,-2.0044219601217237e-11,8.795346757840569e-13,1.048455569511029e-06],"qvel":[3.2506330002529e-05,0.013254015383776893,-0.06600174259152636,0.053471982066962784,-3.718194481674614e-05,4.411537776856808e-05,1.8180004343221023e-05,8.412741903519256e-07,1.727986253961641e-05,-1.9108239760060158e-05,1.7894336518119308e-05,-2.278321387994429e-07,1.1240283788448627e-05,-2.071576560409657e-05,-1.2586292516872284e-12,-2.868446436371367e-11,1.2721181690943607e-14,6.37011521043711e-11,-2.7964076507027162e-12,1.0999444780816447e-16],"joint_position_rad":[-2.01992585489128,-1.6043147731173943,1.348814743470151,-1.3156918245694678,-1.5707823930126479,-0.4491237214099665],"joint_velocity_rad_s":[3.2506330002529e-05,0.013254015383776893,-0.06600174259152636,0.053471982066962784,-3.718194481674614e-05,4.411537776856808e-05],"linkage_position_rad":[0.0029282519392035272,0.00015610927308195443,0.003188486134710076,-0.0034237239359872496,0.002928329226965401,0.00015637907808385031,0.0031942693319529955,-0.003432147867726058],"tcp_position_m":[0.08123836433466997,0.47718550586696495,0.43107071536623],"tcp_quaternion_wxyz":[-7.183272929667229e-05,0.707108819338145,0.7071047153393839,0.0001843883982572736],"object_position_m":[0.08123550790326808,0.47773560249144886,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0044219601217237e-11,8.795346757840569e-13,1.048455569511029e-06],"object_linear_velocity_m_s":[-1.2586292516872284e-12,-2.868446436371367e-11,1.2721181690943607e-14],"object_angular_velocity_rad_s":[6.370115796804935e-11,-2.796274075041146e-12,1.0999444785435557e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313541026484443,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019911023961568,-1.6110676780493334,1.3256287437382965,-1.3098807237484438,-1.5707885175776255,-0.44911498685227585,0.0],"actuator_force":[0.016659327423440118,-18.807416017388732,-19.97130242709818,-2.44164779618427,0.0006559119927942447,-4.425893155257654e-05,-0.2930094300127531],"issued_joint_targets_rad":[-2.019910642072392,-1.6015900441442348,1.3357713401501632,-1.3050391294516384,-1.570790384873231,-0.4491143387947337],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.679999999998966,"joint_targets_rad":[-2.019910642072392,-1.6015900441442348,1.3357713401501632,-1.3050391294516384,-1.570790384873231,-0.4491143387947337],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.699999999998955,"qpos":[-2.0199250767806665,-1.6040613252465412,1.347560097687174,-1.314675427974578,-1.570783156956998,-0.4491228250661948,0.002928619856352874,0.0001561279131234652,0.0031888214793465556,-0.003424120558581907,0.002928689779878709,0.00015637217548262593,0.0031944715960136884,-0.003432569944174642,0.08123550790324202,0.4777356024908552,0.2998922445797833,0.99999999999945,-2.0214576493778092e-11,8.869841042753793e-13,1.0484555695123917e-06],"qvel":[3.5152317298693726e-05,0.012106320039261839,-0.059768589383718596,0.0484352062031599,-3.6372941327077494e-05,4.286316664210995e-05,1.796371014314344e-05,7.646351256752577e-07,1.7068254830014268e-05,-1.8765475130292685e-05,1.770085067716922e-05,-2.1578254591769292e-07,1.156674520458921e-05,-2.019537059830556e-05,-1.5023686259507589e-12,-3.4240530738868166e-11,1.272256946972439e-14,-3.9789471291069327e-10,1.7455974960339704e-11,2.0082186919737612e-16],"joint_position_rad":[-2.0199250767806665,-1.6040613252465412,1.347560097687174,-1.314675427974578,-1.570783156956998,-0.4491228250661948],"joint_velocity_rad_s":[3.5152317298693726e-05,0.012106320039261839,-0.059768589383718596,0.0484352062031599,-3.6372941327077494e-05,4.286316664210995e-05],"linkage_position_rad":[0.002928619856352874,0.0001561279131234652,0.0031888214793465556,-0.003424120558581907,0.002928689779878709,0.00015637217548262593,0.0031944715960136884,-0.003432569944174642],"tcp_position_m":[0.08124007488428292,0.477189438364424,0.43145246926163483],"tcp_quaternion_wxyz":[-6.896474650995673e-05,0.7071088622726625,0.7071046744928309,0.0001773406662158661],"object_position_m":[0.08123550790324202,0.4777356024908552,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0214576493778092e-11,8.869841042753793e-13,1.0484555695123917e-06],"object_linear_velocity_m_s":[-1.5023686259507589e-12,-3.4240530738868166e-11,1.272256946972439e-14],"object_angular_velocity_rad_s":[-3.9789474951344655e-10,1.7455140610445662e-11,2.008218693365633e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353964258556,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019910425129554,-1.6110527500387093,1.325605483974433,-1.3098666073839806,-1.570789122798495,-0.44911433842671844,0.0],"actuator_force":[0.015242375304751477,-18.825377600041065,-20.00179167199485,-2.439110325017282,0.0006543733842363508,-4.299692605513883e-05,-0.2930438046156807],"issued_joint_targets_rad":[-2.019910052897913,-1.6015749517751978,1.3357494428051517,-1.305026569002695,-1.570790933178268,-0.4491137487859825],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.699999999998955,"joint_targets_rad":[-2.019910052897913,-1.6015749517751978,1.3357494428051517,-1.305026569002695,-1.570790933178268,-0.4491137487859825],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.719999999998944,"qpos":[-2.0199242668503414,-1.6038299252673407,1.346424055699135,-1.3137548007954032,-1.570783900158694,-0.4491219578142358,0.002928979694266714,0.00015614473583681833,0.0031891513970685507,-0.0034245049274522093,0.0029290429513266136,0.00015636585017711366,0.0031946808901762358,-0.0034329774137492174,0.08123550790321694,0.4777356024902835,0.2998922445797833,0.99999999999945,-1.8996709872778216e-11,8.335305722954278e-13,1.048455569513734e-06],"qvel":[3.7111029813419424e-05,0.011052040571996796,-0.054118419465569424,0.0438715919215988,-3.539281411164283e-05,4.146284687979622e-05,1.7487757602867282e-05,6.946079963642946e-07,1.6611362433112043e-05,-1.8181830904856852e-05,1.724632804529855e-05,-2.032272814316937e-07,1.1602863378088827e-05,-1.9455796486605226e-05,-1.875035948249956e-12,-4.273437503849919e-11,1.2726732806066736e-14,-1.1103122604006979e-09,4.871796956128915e-11,3.6664924669907227e-16],"joint_position_rad":[-2.0199242668503414,-1.6038299252673407,1.346424055699135,-1.3137548007954032,-1.570783900158694,-0.4491219578142358],"joint_velocity_rad_s":[3.7111029813419424e-05,0.011052040571996796,-0.054118419465569424,0.0438715919215988,-3.539281411164283e-05,4.146284687979622e-05],"linkage_position_rad":[0.002928979694266714,0.00015614473583681833,0.0031891513970685507,-0.0034245049274522093,0.0029290429513266136,0.00015636585017711366,0.0031946808901762358,-0.0034329774137492174],"tcp_position_m":[0.08124163161677572,0.4771930980509747,0.4317971057127412],"tcp_quaternion_wxyz":[-6.597678341220869e-05,0.7071088836777768,0.7071046551952571,0.00016991829806781855],"object_position_m":[0.08123550790321694,0.4777356024902835,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8996709872778216e-11,8.335305722954278e-13,1.048455569513734e-06],"object_linear_velocity_m_s":[-1.875035948249956e-12,-4.273437503849919e-11,1.2726732806066736e-14],"object_angular_velocity_rad_s":[-1.110312362555509e-09,4.8715641335035385e-11,3.6664924673954675e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931353815157484,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019909875821006,-1.611040285402165,1.3255857101339819,-1.309854073409364,-1.570789673559856,-0.44911374841821616,0.0],"actuator_force":[0.013937646745034726,-18.841536498447113,-20.02932334407842,-2.436795499140203,0.0006525808300921199,-4.1586678150906664e-05,-0.29307480270790726],"issued_joint_targets_rad":[-2.0199095171561643,-1.6015621049143334,1.335730665109897,-1.3050154153684281,-1.5707914317958147,-0.4491132121480816],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.719999999998944,"joint_targets_rad":[-2.0199095171561643,-1.6015621049143334,1.335730665109897,-1.3050154153684281,-1.5707914317958147,-0.4491132121480816],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.739999999998933,"qpos":[-2.019923435799189,-1.6036187596347902,1.3453955033669824,-1.3129209411999052,-1.570784619862599,-0.44912112200500426,0.0029293272271293373,0.00015615992034834854,0.0031894714940281653,-0.003424873471598826,0.0029293844498565055,0.00015636006007290867,0.003194891667545246,-0.0034333669212525835,0.08123550790319228,0.47773560248972224,0.2998922445797833,0.99999999999945,-1.72644623213636e-11,7.575195969436442e-13,1.0484555695151246e-06],"qvel":[3.8471545179168796e-05,0.010084682984635681,-0.04899774570759207,0.039736900607764865,-3.427966351169198e-05,3.9951758669362614e-05,1.6828181131815393e-05,6.306872380701549e-07,1.5981174856347092e-05,-1.743033630818416e-05,1.660679401240027e-05,-1.90500046435991e-07,1.1423902700010797e-05,-1.856709339296849e-05,-9.260412721494991e-13,-2.1105651631140305e-11,1.2726732806066736e-14,7.055372630765397e-10,-3.095824625451091e-11,3.9723456559560083e-17],"joint_position_rad":[-2.019923435799189,-1.6036187596347902,1.3453955033669824,-1.3129209411999052,-1.570784619862599,-0.44912112200500426],"joint_velocity_rad_s":[3.8471545179168796e-05,0.010084682984635681,-0.04899774570759207,0.039736900607764865,-3.427966351169198e-05,3.9951758669362614e-05],"linkage_position_rad":[0.0029293272271293373,0.00015615992034834854,0.0031894714940281653,-0.003424873471598826,0.0029293844498565055,0.00015636006007290867,0.003194891667545246,-0.0034333669212525835],"tcp_position_m":[0.08124304549803871,0.4771964978388439,0.43210823720754743],"tcp_quaternion_wxyz":[-6.291942995066364e-05,0.7071088864789827,0.7071046544710964,0.00016226185425061138],"object_position_m":[0.08123550790319228,0.47773560248972224,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.72644623213636e-11,7.575195969436442e-13,1.0484555695151246e-06],"object_linear_velocity_m_s":[-9.260412721494991e-13,-2.1105651631140305e-11,1.2726732806066736e-14],"object_angular_velocity_rad_s":[7.055373279916794e-10,-3.095676680549688e-11,3.972345657231467e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313536607903644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019909372619387,-1.6110298612818572,1.325568861508725,-1.3098429302086338,-1.5707901745579498,-0.44911321178480074,0.0],"actuator_force":[0.012737741532419022,-18.856076487988048,-20.05418543347787,-2.434684565140742,0.0006506186757633259,-4.0065765176677814e-05,-0.29310275872501323],"issued_joint_targets_rad":[-2.019909030179928,-1.6015511418991297,1.3357145235298535,-1.305005498431579,-1.570791885062463,-0.4491127242344964],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.739999999998933,"joint_targets_rad":[-2.019909030179928,-1.6015511418991297,1.3357145235298535,-1.305005498431579,-1.570791885062463,-0.4491127242344964],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.759999999998922,"qpos":[-2.019922592970654,-1.6034261446814306,1.344464350110053,-1.3121656898355587,-1.570785313992612,-0.44912031931676016,0.002929659547089376,0.00015617362777527977,0.003189778694862053,-0.0034252238293890364,0.0029297113080755726,0.00015635476494400052,0.003195099804260771,-0.003433736301330008,0.08123550790316479,0.4777356024890951,0.2998922445797833,0.99999999999945,-1.844257761416126e-11,8.09191102166174e-13,1.0484555695173822e-06],"qvel":[3.9315197879879494e-05,0.00919798282346737,-0.04435779846537497,0.03599099588716245,-3.306618278324715e-05,3.8361852073639376e-05,1.604443407010887e-05,5.723945096679465e-07,1.5233963034300273e-05,-1.6567950114503968e-05,1.5841717966259842e-05,-1.7785363428571143e-07,1.1089257688247817e-05,-1.758369697765161e-05,-1.0049505876185534e-12,-2.290468309736721e-11,1.2729508363628298e-14,6.061188458010473e-10,-2.6595705868246e-11,7.252469848810433e-17],"joint_position_rad":[-2.019922592970654,-1.6034261446814306,1.344464350110053,-1.3121656898355587,-1.570785313992612,-0.44912031931676016],"joint_velocity_rad_s":[3.9315197879879494e-05,0.00919798282346737,-0.04435779846537497,0.03599099588716245,-3.306618278324715e-05,3.8361852073639376e-05],"linkage_position_rad":[0.002929659547089376,0.00015617362777527977,0.003189778694862053,-0.0034252238293890364,0.0029297113080755726,0.00015635476494400052,0.003195099804260771,-0.003433736301330008],"tcp_position_m":[0.08124432727148063,0.4771996512303723,0.43238912412281294],"tcp_quaternion_wxyz":[-5.98345088751411e-05,0.7071088733669963,0.7071046695921299,0.00015448784014275235],"object_position_m":[0.08123550790316479,0.4777356024890951,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.844257761416126e-11,8.09191102166174e-13,1.0484555695173822e-06],"object_linear_velocity_m_s":[-1.0049505876185534e-12,-2.290468309736721e-11,1.2729508363628298e-14],"object_angular_velocity_rad_s":[6.061189015685461e-10,-2.659443489082817e-11,7.252469851940465e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313535052725223,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019908912203549,-1.6110211291794252,1.325554471561948,-1.3098330110873766,-1.570790630122107,-0.44911272387896184,0.0],"actuator_force":[0.011635455057785293,-18.869162125375624,-20.076637710060368,-2.4327602146253184,0.0006485535307092505,-3.8466308211582145e-05,-0.29312797351842923],"issued_joint_targets_rad":[-2.0199085876767016,-1.6015417624545587,1.3357006138941763,-1.3049966702323588,-1.5707922969672246,-0.4491122807698751],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.759999999998922,"joint_targets_rad":[-2.0199085876767016,-1.6015417624545587,1.3357006138941763,-1.3049966702323588,-1.5707922969672246,-0.4491122807698751],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.77999999999891,"qpos":[-2.019921746447002,-1.603250521132011,1.3436214379197617,-1.3114816515729848,-1.5707859810528355,-0.44911955085529437,0.0029299747719094263,0.0001561860031015888,0.0031900709530742893,-0.003425554574905067,0.002930021589746406,0.0001563499266144147,0.0031953023007485156,-0.0034340843065304365,0.08123550790313792,0.47773560248848246,0.2998922445797833,0.99999999999945,-1.9305087431265867e-11,8.470279348048617e-13,1.0484555695199333e-06],"qvel":[3.971572952680871e-05,0.008385949217778042,-0.04015414437879756,0.03259746835040911,-3.178029217259401e-05,3.672030982058837e-05,1.5182662831055658e-05,5.192794362785396e-07,1.4413387510867943e-05,-1.5638742871457245e-05,1.499728099309376e-05,-1.654760488620821e-07,1.0645551762925702e-05,-1.6547536529113834e-05,-1.0999409044072918e-12,-2.5069901638531813e-11,1.273089614240908e-14,4.230750603210628e-10,-1.856364134496418e-11,1.3241093851593614e-16],"joint_position_rad":[-2.019921746447002,-1.603250521132011,1.3436214379197617,-1.3114816515729848,-1.5707859810528355,-0.44911955085529437],"joint_velocity_rad_s":[3.971572952680871e-05,0.008385949217778042,-0.04015414437879756,0.03259746835040911,-3.178029217259401e-05,3.672030982058837e-05],"linkage_position_rad":[0.0029299747719094263,0.0001561860031015888,0.0031900709530742893,-0.003425554574905067,0.002930021589746406,0.0001563499266144147,0.0031953023007485156,-0.0034340843065304365],"tcp_position_m":[0.08124548731966338,0.47720257198830696,0.43264270912820335],"tcp_quaternion_wxyz":[-5.675631749835081e-05,0.7071088467946144,0.7071046980786758,0.00014669210923144442],"object_position_m":[0.08123550790313792,0.47773560248848246,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9305087431265867e-11,8.470279348048617e-13,1.0484555695199333e-06],"object_linear_velocity_m_s":[-1.0999409044072918e-12,-2.5069901638531813e-11,1.273089614240908e-14],"object_angular_velocity_rad_s":[4.2307509924643866e-10,-1.8562754194116712e-11,1.3241093853142574e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135335166409,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199084913797716,-1.6110138017074107,1.3255421517852948,-1.3098241708965597,-1.57079104423606,-0.44911228042454915,0.0],"actuator_force":[0.010623842650602455,-18.880940837910657,-20.09691451741537,-2.4310064968283314,0.0006464376050416831,-3.68156094339156e-05,-0.2931507178019124],"issued_joint_targets_rad":[-2.019908185704879,-1.6015337169534196,1.3356885979538655,-1.304988801937678,-1.570792671173452,-0.44911187782671586],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.77999999999891,"joint_targets_rad":[-2.019908185704879,-1.6015337169534196,1.3356885979538655,-1.304988801937678,-1.570792671173452,-0.44911187782671586],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.7999999999989,"qpos":[-2.0199209031495813,-1.6030904479791503,1.3428584578590157,-1.3108621244276795,-1.5707866200404696,-0.44911881724227093,0.002930271810768714,0.00015619717684546588,0.0031903470188178345,-0.0034258649991234244,0.002930314155084486,0.00015634550906300617,0.0031954970411205387,-0.0034344103900889053,0.08123550790311179,0.47773560248788727,0.2998922445797833,0.99999999999945,-1.969107772161687e-11,8.639505856331529e-13,1.048455569522753e-06],"qvel":[3.9739571537134704e-05,0.007642893255303088,-0.03634632941762237,0.029523293930471442,-3.0445709834773403e-05,3.5050111589501025e-05,1.4278362076792224e-05,4.7091952627258734e-07,1.3553017434849094e-05,-1.4676480468181654e-05,1.4109025908989521e-05,-1.5350348658980448e-07,1.0129152119787608e-05,-1.5490551286534112e-05,-1.2310454850008716e-12,-2.8058543913880996e-11,1.272395724850517e-14,1.2447388573662742e-10,-5.462369223962227e-12,2.417487279221184e-16],"joint_position_rad":[-2.0199209031495813,-1.6030904479791503,1.3428584578590157,-1.3108621244276795,-1.5707866200404696,-0.44911881724227093],"joint_velocity_rad_s":[3.9739571537134704e-05,0.007642893255303088,-0.03634632941762237,0.029523293930471442,-3.0445709834773403e-05,3.5050111589501025e-05],"linkage_position_rad":[0.002930271810768714,0.00015619717684546588,0.0031903470188178345,-0.0034258649991234244,0.002930314155084486,0.00015634550906300617,0.0031954970411205387,-0.0034344103900889053],"tcp_position_m":[0.08124653556857257,0.4772052738811919,0.43287164821439583],"tcp_quaternion_wxyz":[-5.3712707753265164e-05,0.7071088089799434,0.7071047376945115,0.00013895282141135104],"object_position_m":[0.08123550790311179,0.47773560248788727,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.969107772161687e-11,8.639505856331529e-13,1.048455569522753e-06],"object_linear_velocity_m_s":[-1.2310454850008716e-12,-2.8058543913880996e-11,1.272395724850517e-14],"object_angular_velocity_rad_s":[1.2447389719045653e-10,-5.462108213272683e-12,2.4174872795826963e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313532021915237,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199081071033613,-1.6110076417147425,1.325531578332619,-1.3098162831054927,-1.570791420559565,-0.4491118774934093,0.0],"actuator_force":[0.009696263825389906,-18.891544773305213,-20.115227285744822,-2.4294087319537994,0.0006443114357352897,-3.51367281155035e-05,-0.29317123523258887],"issued_joint_targets_rad":[-2.0199078206501704,-1.6015267975841347,1.3356781922420429,-1.3049817812246904,-1.570793011040602,-0.44911151180221276],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.7999999999989,"joint_targets_rad":[-2.0199078206501704,-1.6015267975841347,1.3356781922420429,-1.3049817812246904,-1.570793011040602,-0.44911151180221276],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.819999999998888,"qpos":[-2.019920068941007,-1.6029445959825952,1.3421678735443354,-1.310301035013959,-1.5707872303692627,-0.44911811869287793,0.0029305501771818296,0.00015620726654603362,0.0031906062532015,-0.0034261549355338533,0.0029305884732162154,0.00015634147846697378,0.0031956825997847024,-0.0034347145329788878,0.08123550790308665,0.47773560248731384,0.2998922445797833,0.99999999999945,-1.9358061602831937e-11,8.493353193332813e-13,1.0484555695257488e-06],"qvel":[3.944621736607045e-05,0.006963444208808091,-0.03289754595075493,0.02673852297372921,-2.908246442873978e-05,3.3370543343562316e-05,1.3358525646059289e-05,4.2692015305158096e-07,1.2678371601532009e-05,-1.3706711515513798e-05,1.320400402825999e-05,-1.4203114089061127e-07,9.568207163019431e-06,-1.4436731775211079e-05,-1.432831369815628e-12,-3.2657833243017046e-11,1.2722569469724392e-14,-3.345387059298802e-10,1.467817890758125e-11,4.4137276902079017e-16],"joint_position_rad":[-2.019920068941007,-1.6029445959825952,1.3421678735443354,-1.310301035013959,-1.5707872303692627,-0.44911811869287793],"joint_velocity_rad_s":[3.944621736607045e-05,0.006963444208808091,-0.03289754595075493,0.02673852297372921,-2.908246442873978e-05,3.3370543343562316e-05],"linkage_position_rad":[0.0029305501771818296,0.00015620726654603362,0.0031906062532015,-0.0034261549355338533,0.0029305884732162154,0.00015634147846697378,0.0031956825997847024,-0.0034347145329788878],"tcp_position_m":[0.081247481425133,0.4772077704894367,0.4330783386790695],"tcp_quaternion_wxyz":[-5.072602485598871e-05,0.7071087619141855,0.7071047864374115,0.00013133301272270394],"object_position_m":[0.08123550790308665,0.47773560248731384,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9358061602831937e-11,8.493353193332813e-13,1.0484555695257488e-06],"object_linear_velocity_m_s":[-1.432831369815628e-12,-3.2657833243017046e-11,1.2722569469724392e-14],"object_angular_velocity_rad_s":[-3.345387367079813e-10,1.4677477409610077e-11,4.4137276902328987e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313530584260069,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199077564921506,-1.6110024533604541,1.3255224809579018,-1.3098092372718242,-1.570791762449908,-0.4491115114822065,0.0],"actuator_force":[0.008846410766182089,-18.901092439240983,-20.131766792565486,-2.427953426305521,0.0006422061202329132,-3.344899866419837e-05,-0.29318974516827384],"issued_joint_targets_rad":[-2.019907489202574,-1.6015208310853084,1.3356691588438654,-1.3049755100268976,-1.5707933196455364,-0.44911117939561224],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.819999999998888,"joint_targets_rad":[-2.019907489202574,-1.6015208310853084,1.3356691588438654,-1.3049755100268976,-1.5707933196455364,-0.44911117939561224],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.839999999998877,"qpos":[-2.0199192487263176,-1.6028117409941125,1.3415428511190626,-1.3097928799420826,-1.5707878118024303,-0.4491174550838575,0.0029308098400444033,0.00015621637808847547,0.0031908484802522607,-0.003426424621660075,0.002930844472804806,0.00015633780320018056,0.003195858086355175,-0.0034349971067557223,0.08123550790306279,0.4777356024867704,0.2998922445797833,0.99999999999945,-1.7960277683918084e-11,7.880034702211163e-13,1.048455569528699e-06],"qvel":[3.8888651697029875e-05,0.006342556435388461,-0.02977432328766826,0.024215997312220818,-2.770735411087345e-05,3.169765546335613e-05,1.244338661262825e-05,3.869139031987983e-07,1.1808567357060299e-05,-1.2748460340949776e-05,1.2302511954951345e-05,-1.3112188395454157e-07,8.98429717747585e-06,-1.3403766310740785e-05,-1.7644189663517193e-12,-4.0216089135466505e-11,1.27295083636283e-14,-1.015982525673314e-09,4.4575510300079234e-11,8.058311479737435e-16],"joint_position_rad":[-2.0199192487263176,-1.6028117409941125,1.3415428511190626,-1.3097928799420826,-1.5707878118024303,-0.4491174550838575],"joint_velocity_rad_s":[3.8888651697029875e-05,0.006342556435388461,-0.02977432328766826,0.024215997312220818,-2.770735411087345e-05,3.169765546335613e-05],"linkage_position_rad":[0.0029308098400444033,0.00015621637808847547,0.0031908484802522607,-0.003426424621660075,0.002930844472804806,0.00015633780320018056,0.003195858086355175,-0.0034349971067557223],"tcp_position_m":[0.08124833374043985,0.4772100750602313,0.43326494437119256],"tcp_quaternion_wxyz":[-4.781392234929263e-05,0.7071087073725716,0.7071048425267391,0.00012388282573921422],"object_position_m":[0.08123550790306279,0.4777356024867704,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7960277683918084e-11,7.880034702211163e-13,1.048455569528699e-06],"object_linear_velocity_m_s":[-1.7644189663517193e-12,-4.0216089135466505e-11,1.27295083636283e-14],"object_angular_velocity_rad_s":[-1.0159826191419638e-09,4.457337987490606e-11,8.058311480305056e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313529214268496,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199074368337397,-1.610998074786064,1.3255146338629666,-1.3098029368596775,-1.5707920729829732,-0.44911117908975834,0.0],"actuator_force":[0.008068324476880662,-18.909690158057856,-20.146705197124902,-2.426628190019528,0.0006401451396413904,-3.176849679675797e-05,-0.29320644513529837],"issued_joint_targets_rad":[-2.019907188334134,-1.6015156727671822,1.3356612977492766,-1.3049699025955934,-1.5707935998031122,-0.4491108775863067],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.839999999998877,"joint_targets_rad":[-2.019907188334134,-1.6015156727671822,1.3356612977492766,-1.3049699025955934,-1.5707935998031122,-0.4491108775863067],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.859999999998866,"qpos":[-2.0199184465509763,-1.6026907572615152,1.3409771952424625,-1.3093326726213406,-1.5707883643940461,-0.44911682601291125,0.0029310511054891266,0.00015622460688790395,0.003191073869325924,-0.003426674589549693,0.0029310824235237957,0.00015633445379609052,0.003196023021602005,-0.0034352587652611622,0.0812355079030396,0.47773560248624175,0.2998922445797833,0.99999999999945,-1.6213284333562198e-11,7.113493118669667e-13,1.0484555695317557e-06],"qvel":[3.811381140721555e-05,0.005775509206328389,-0.02694624089888616,0.02193109288106972,-2.6334356472837074e-05,3.004467355259612e-05,1.1547822827839269e-05,3.505595753146145e-07,1.0957653190551525e-05,-1.1815591503531864e-05,1.1419494566186554e-05,-1.208134232689052e-07,8.393768855575752e-06,-1.240437164833212e-05,-8.711534583374536e-13,-1.985603085962956e-11,1.2725345027285954e-14,6.667881448904443e-10,-2.9255738020133104e-11,8.730526258903986e-17],"joint_position_rad":[-2.0199184465509763,-1.6026907572615152,1.3409771952424625,-1.3093326726213406,-1.5707883643940461,-0.44911682601291125],"joint_velocity_rad_s":[3.811381140721555e-05,0.005775509206328389,-0.02694624089888616,0.02193109288106972,-2.6334356472837074e-05,3.004467355259612e-05],"linkage_position_rad":[0.0029310511054891266,0.00015622460688790395,0.003191073869325924,-0.003426674589549693,0.0029310824235237957,0.00015633445379609052,0.003196023021602005,-0.0034352587652611622],"tcp_position_m":[0.081249100792661,0.4772122004016558,0.43343341846393735],"tcp_quaternion_wxyz":[-4.499006909143031e-05,0.7071086469273373,0.7071049043891982,0.00011664144361424398],"object_position_m":[0.0812355079030396,0.47773560248624175,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6213284333562198e-11,7.113493118669667e-13,1.0484555695317557e-06],"object_linear_velocity_m_s":[-8.711534583374536e-13,-1.985603085962956e-11,1.2725345027285954e-14],"object_angular_velocity_rad_s":[6.667882062356609e-10,-2.925433982458035e-11,8.730526259094857e-17],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313527918564658,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019907145587966,-1.6109943720996283,1.3255078481268543,-1.3097972973610845,-1.5707923549736382,-0.4491108772951118,0.0],"actuator_force":[0.0073564014578551,-18.91743335875708,-20.16019787166215,-2.425421657978859,0.0006381458512123572,-3.0108455518984556e-05,-0.2932215130376163],"issued_joint_targets_rad":[-2.019906915277666,-1.6015112015901651,1.33565444051685,-1.3049648838342311,-1.5707938540859085,-0.44911060361285254],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.859999999998866,"joint_targets_rad":[-2.019906915277666,-1.6015112015901651,1.33565444051685,-1.3049648838342311,-1.5707938540859085,-0.44911060361285254],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.879999999998855,"qpos":[-2.0199176656942566,-1.6025806108266487,1.3404652906396284,-1.3089158949791835,-1.570788888437985,-0.4491162308503925,0.002931274523600411,0.00015623203894810507,0.0031912828420958116,-0.003426905579655332,0.002931302842423418,0.00015633140288543381,0.003196177238525909,-0.003435500359586639,0.08123550790301201,0.4777356024856129,0.2998922445797833,0.99999999999945,-1.813185615521114e-11,7.955049557996882e-13,1.0484555695373364e-06],"qvel":[3.7163059479734326e-05,0.005257901267597933,-0.024385663351912366,0.01986148563767038,-2.4974993749018338e-05,2.8422365602136567e-05,1.0682490680379173e-05,3.1754138702697315e-07,1.0135683135790461e-05,-1.0917909366260976e-05,1.0565676764867127e-05,-1.1112394818791617e-07,7.808814325324371e-06,-1.1447362724645175e-05,-9.782028518947348e-13,-2.2296565460759377e-11,1.2726732806066737e-14,6.127616054729129e-10,-2.688520831689746e-11,1.5939630306944589e-16],"joint_position_rad":[-2.0199176656942566,-1.6025806108266487,1.3404652906396284,-1.3089158949791835,-1.570788888437985,-0.4491162308503925],"joint_velocity_rad_s":[3.7163059479734326e-05,0.005257901267597933,-0.024385663351912366,0.01986148563767038,-2.4974993749018338e-05,2.8422365602136567e-05],"linkage_position_rad":[0.002931274523600411,0.00015623203894810507,0.0031912828420958116,-0.003426905579655332,0.002931302842423418,0.00015633140288543381,0.003196177238525909,-0.003435500359586639],"tcp_position_m":[0.08124979028479416,0.4772141588080895,0.43358552399957595],"tcp_quaternion_wxyz":[-4.226476182062814e-05,0.7071085819618993,0.7071049706435829,0.00010963876539195771],"object_position_m":[0.08123550790301201,0.4777356024856129,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.813185615521114e-11,7.955049557996882e-13,1.0484555695373364e-06],"object_linear_velocity_m_s":[-9.782028518947348e-13,-2.2296565460759377e-11,1.2726732806066737e-14],"object_angular_velocity_rad_s":[6.127616618474581e-10,-2.6883923410202215e-11,1.5939630309377522e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313526700723596,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199068803858022,-1.6109912344359432,1.3255019654441347,-1.3097922446803014,-1.5707926109953236,-0.449110603336547,0.0],"actuator_force":[0.006705393117044878,-18.924407725628043,-20.1723850502226,-2.424323414325954,0.0006362207055872204,-2.84796374785401e-05,-0.29323510913841766],"issued_joint_targets_rad":[-2.019906667506542,-1.6015073161117188,1.335648445023045,-1.3049603878680915,-1.5707940848429787,-0.44911035495300766],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.879999999998855,"joint_targets_rad":[-2.019906667506542,-1.6015073161117188,1.335648445023045,-1.3049603878680915,-1.5707940848429787,-0.44911035495300766],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.899999999998844,"qpos":[-2.0199169087570557,-1.602480353101405,1.340002048779576,-1.308538453649688,-1.570789384423594,-0.4491156687841248,0.0029314808151497647,0.00015623875180811457,0.0031914759993449076,-0.003427118473460671,0.002931506420348921,0.0001563286251150228,0.0031963208037444376,-0.0034357228717222512,0.08123550790298457,0.47773560248498775,0.2998922445797833,0.99999999999945,-1.9486459548724034e-11,8.549067419272911e-13,1.0484555695436684e-06],"qvel":[3.607265778883068e-05,0.004785641559905321,-0.022067495885079114,0.017986938731515006,-2.363865740077784e-05,2.6839369262765146e-05,9.854737518861562e-06,2.8756761575285136e-07,9.349580713260783e-06,-1.0062044689369933e-05,9.748474400030881e-06,-1.0205675697833768e-07,7.238340949700367e-06,-1.053851469026533e-05,-1.091159536200077e-12,-2.487209840430447e-11,1.2726732806066737e-14,4.699400972030772e-10,-2.0618969439091756e-11,2.9101716610264494e-16],"joint_position_rad":[-2.0199169087570557,-1.602480353101405,1.340002048779576,-1.308538453649688,-1.570789384423594,-0.4491156687841248],"joint_velocity_rad_s":[3.607265778883068e-05,0.004785641559905321,-0.022067495885079114,0.017986938731515006,-2.363865740077784e-05,2.6839369262765146e-05],"linkage_position_rad":[0.0029314808151497647,0.00015623875180811457,0.0031914759993449076,-0.003427118473460671,0.002931506420348921,0.0001563286251150228,0.0031963208037444376,-0.0034357228717222512],"tcp_position_m":[0.081250409353444,0.4772159620104811,0.43372285242548503],"tcp_quaternion_wxyz":[-3.964545522925545e-05,0.7071085136855911,0.707105040085155,0.000102896855474627],"object_position_m":[0.08123550790298457,0.47773560248498775,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9486459548724034e-11,8.549067419272911e-13,1.0484555695436684e-06],"object_linear_velocity_m_s":[-1.091159536200077e-12,-2.487209840430447e-11,1.2726732806066737e-14],"object_angular_velocity_rad_s":[4.699401404381904e-10,-2.061798401642187e-11,2.9101716615491836e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313525562004614,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199066390256095,-1.6109885698996218,1.3254968529457674,-1.3097877137450518,-1.5707928433985952,-0.44911035469160265,0.0],"actuator_force":[0.006110399776389386,-18.930690220395718,-20.18339331358584,-2.4233239208333544,0.0006343782396243114,-2.6890665196788177e-05,-0.29324737783452876],"issued_joint_targets_rad":[-2.0199064427156093,-1.6015039311466424,1.3356431911096756,-1.304956356816222,-1.570794294217565,-0.4491101293048721],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.899999999998844,"joint_targets_rad":[-2.0199064427156093,-1.6015039311466424,1.3356431911096756,-1.304956356816222,-1.570794294217565,-0.4491101293048721],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.919999999998833,"qpos":[-2.019916177743586,-1.602389114681545,1.339582859272872,-1.3081966402241814,-1.5707898529973259,-0.44911513885810955,0.002931670814423291,0.00015624481539127042,0.003191654063696067,-0.0034273142412128326,0.0029316939644796276,0.00015632609705462482,0.0031964539552800527,-0.003435927363192748,0.08123550790295758,0.47773560248437263,0.2998922445797833,0.99999999999945,-2.022175041859755e-11,8.871611426438108e-13,1.0484555695507136e-06],"qvel":[3.487422870872226e-05,0.004354937227013136,-0.019968959472960835,0.016289109048432428,-2.2332895971988654e-05,2.530248266825087e-05,9.06933469572734e-06,2.603694630434326e-07,8.603833569691488e-06,-9.252163574727994e-06,8.972726150982524e-06,-9.360405506037821e-08,6.68867184222992e-06,-9.681252648187262e-06,-1.2269069834416855e-12,-2.796645286976107e-11,1.2733671699970645e-14,2.067878894299298e-10,-9.072315051931725e-12,5.313250926893055e-16],"joint_position_rad":[-2.019916177743586,-1.602389114681545,1.339582859272872,-1.3081966402241814,-1.5707898529973259,-0.44911513885810955],"joint_velocity_rad_s":[3.487422870872226e-05,0.004354937227013136,-0.019968959472960835,0.016289109048432428,-2.2332895971988654e-05,2.530248266825087e-05],"linkage_position_rad":[0.002931670814423291,0.00015624481539127042,0.003191654063696067,-0.0034273142412128326,0.0029316939644796276,0.00015632609705462482,0.0031964539552800527,-0.003435927363192748],"tcp_position_m":[0.08125096458559491,0.47721762114623933,0.4338468403186265],"tcp_quaternion_wxyz":[-3.713722001132666e-05,0.7071084431484812,0.707105111670098,9.643119603736905e-05],"object_position_m":[0.08123550790295758,0.47773560248437263,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.022175041859755e-11,8.871611426438108e-13,1.0484555695507136e-06],"object_linear_velocity_m_s":[-1.2269069834416855e-12,-2.796645286976107e-11,1.2733671699970645e-14],"object_angular_velocity_rad_s":[2.067879084533135e-10,-9.071881436082975e-12,5.313250926883406e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313524501934183,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199064194675014,-1.6109863022324695,1.3254923989148395,-1.3097836473130609,-1.570793054328748,-0.4491101290582067,0.0],"actuator_force":[0.005566860685576103,-18.936349992654414,-20.19333692688042,-2.4224144492828827,0.0006326238860765443,-2.534831537559512e-05,-0.2932584492493795],"issued_joint_targets_rad":[-2.0199062388032702,-1.6015009750135476,1.335638576974432,-1.304952739736826,-1.570794484163737,-0.449109924569155],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.919999999998833,"joint_targets_rad":[-2.0199062388032702,-1.6015009750135476,1.335638576974432,-1.304952739736826,-1.570794484163737,-0.449109924569155],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.939999999998822,"qpos":[-2.0199154741366643,-1.6023060994389888,1.3392035456048197,-1.3078870951929782,-1.5707902949296617,-0.44911464000581774,0.002931845424952875,0.000156250292765523,0.0031918178351214308,-0.0034274939016983455,0.0029318663537977675,0.00015632379709563373,0.0031965770535611463,-0.0034361149356725447,0.08123550790293133,0.4777356024837748,0.2998922445797833,0.99999999999945,-2.018685996333507e-11,8.856080374591297e-13,1.0484555695582911e-06],"qvel":[3.359519832466442e-05,0.003962279798338034,-0.018069384203548408,0.014751371412812827,-2.1063669681147767e-05,2.3816922197946656e-05,8.329064885222735e-06,2.3569970303623965e-07,7.901048978269314e-06,-8.490536604212421e-06,8.24128002050532e-06,-8.574977800719331e-08,6.164109622122932e-06,-8.877202760152785e-06,-1.4196180607308536e-12,-3.236038773336936e-11,1.272812058484752e-14,-2.1609026691694533e-10,9.477238988160965e-12,9.700670872034573e-16],"joint_position_rad":[-2.0199154741366643,-1.6023060994389888,1.3392035456048197,-1.3078870951929782,-1.5707902949296617,-0.44911464000581774],"joint_velocity_rad_s":[3.359519832466442e-05,0.003962279798338034,-0.018069384203548408,0.014751371412812827,-2.1063669681147767e-05,2.3816922197946656e-05],"linkage_position_rad":[0.002931845424952875,0.000156250292765523,0.0031918178351214308,-0.0034274939016983455,0.0029318663537977675,0.00015632379709563373,0.0031965770535611463,-0.0034361149356725447],"tcp_position_m":[0.08125146204098639,0.47721914674449284,0.433958784476308],"tcp_quaternion_wxyz":[-3.4743138045562316e-05,0.7071083712559176,0.7071051845003933,9.0251767570862e-05],"object_position_m":[0.08123550790293133,0.4777356024837748,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.018685996333507e-11,8.856080374591297e-13,1.0484555695582911e-06],"object_linear_velocity_m_s":[-1.4196180607308536e-12,-3.236038773336936e-11,1.272812058484752e-14],"object_angular_velocity_rad_s":[-2.160902867893981e-10,9.476785866052408e-12,9.70067087323783e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313523518767083,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199062198263937,-1.6109843680750704,1.3254885092417144,-1.3097799949462248,-1.570793245742332,-0.449109924336935,0.0],"actuator_force":[0.005070541211352975,-18.941449191498577,-20.20231904479124,-2.421587017904585,0.000630960632975075,-2.385777838753711e-05,-0.2932684406620608],"issued_joint_targets_rad":[-2.0199060538547253,-1.6014983872631112,1.3356345161760248,-1.3049494917211695,-1.5707946564619575,-0.44910973883258215],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.939999999998822,"joint_targets_rad":[-2.0199060538547253,-1.6014983872631112,1.3356345161760248,-1.3049494917211695,-1.5707946564619575,-0.44910973883258215],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.95999999999881,"qpos":[-2.0199147989665653,-1.6022305789183495,1.3388603248450501,-1.3076067752402276,-1.5707907110867019,-0.44911417107869384,0.0029320055855666886,0.0001562552408256353,0.0031919681566931497,-0.0034276584916586293,0.0029320245049005303,0.00015632170534548632,0.003196690543055096,-0.003436286701168281,0.08123550790290626,0.4777356024832034,0.2998922445797833,0.99999999999945,-1.9098885198416256e-11,8.378447440303048e-13,1.048455569565938e-06],"qvel":[3.2259216544910994e-05,0.0036044302364502366,-0.016350019781099918,0.01335865887748819,-1.9835575173289526e-05,2.2386550290138444e-05,7.635191328298457e-06,2.133313528254194e-07,7.242398526686819e-06,-7.777993731053574e-06,7.555461984023401e-06,-7.847202493894334e-08,5.667387935726708e-06,-8.126633324413837e-06,-1.7254870435536456e-12,-3.933531276988425e-11,1.2729508363628301e-14,-8.552852462923963e-10,3.7513245730861854e-11,1.771079510515089e-15],"joint_position_rad":[-2.0199147989665653,-1.6022305789183495,1.3388603248450501,-1.3076067752402276,-1.5707907110867019,-0.44911417107869384],"joint_velocity_rad_s":[3.2259216544910994e-05,0.0036044302364502366,-0.016350019781099918,0.01335865887748819,-1.9835575173289526e-05,2.2386550290138444e-05],"linkage_position_rad":[0.0029320055855666886,0.0001562552408256353,0.0031919681566931497,-0.0034276584916586293,0.0029320245049005303,0.00015632170534548632,0.003196690543055096,-0.003436286701168281],"tcp_position_m":[0.08125190727823417,0.4772205487232563,0.43405985553342896],"tcp_quaternion_wxyz":[-3.246464274333165e-05,0.7071082987825553,0.7071052578093348,8.43639795983785e-05],"object_position_m":[0.08123550790290626,0.4777356024832034,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9098885198416256e-11,8.378447440303048e-13,1.048455569565938e-06],"object_linear_velocity_m_s":[-1.7254870435536456e-12,-3.933531276988425e-11,1.2729508363628301e-14],"object_angular_velocity_rad_s":[-8.552853249524581e-10,3.751145227361933e-11,1.7710795108195557e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313522609849795,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199060383642107,-1.6109827147159017,1.3254851044899973,-1.3097767121284483,-1.5707934194226207,-0.44910973861441184,0.0],"actuator_force":[0.004617518091436068,-18.946043689684757,-20.210432797665362,-2.4208343318591687,0.0006293895578437514,-2.2422887980155792e-05,-0.2932774577899226],"issued_joint_targets_rad":[-2.0199058861263643,-1.601496116802375,1.3356309351476134,-1.304946573114468,-1.5707948127335856,-0.44910957035242277],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.95999999999881,"joint_targets_rad":[-2.0199058861263643,-1.601496116802375,1.3356309351476134,-1.304946573114468,-1.5707948127335856,-0.44910957035242277],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.9799999999988,"qpos":[-2.0199141528735427,-1.6021618870519276,1.3385497709988787,-1.3073529235840975,-1.5707911024058698,-0.44911373087043915,0.0029321522446675323,0.00015625971090601492,0.003192105888502252,-0.0034278090428629163,0.0029321693460616894,0.0001563198035208023,0.0031967949224372535,-0.003436443759771377,0.081235507902883,0.4777356024826728,0.2998922445797833,0.99999999999945,-1.652083215736306e-11,7.247224366762474e-13,1.0484555695726558e-06],"qvel":[3.08865510501522e-05,0.003278403382979598,-0.014793861983566954,0.012097317665241187,-1.8652043432122408e-05,2.101407627396872e-05,6.987831581238365e-06,1.9305630315404458e-07,6.627971423299496e-06,-7.114284551842083e-06,6.915449339648832e-06,-7.174488551611792e-08,5.200033102363799e-06,-7.428802218890106e-06,-8.866337359691162e-13,-2.021210092681166e-11,1.2729508363628301e-14,7.068238231230079e-10,-3.1008155886299824e-11,1.9188195953939293e-16],"joint_position_rad":[-2.0199141528735427,-1.6021618870519276,1.3385497709988787,-1.3073529235840975,-1.5707911024058698,-0.44911373087043915],"joint_velocity_rad_s":[3.08865510501522e-05,0.003278403382979598,-0.014793861983566954,0.012097317665241187,-1.8652043432122408e-05,2.101407627396872e-05],"linkage_position_rad":[0.0029321522446675323,0.00015625971090601492,0.003192105888502252,-0.0034278090428629163,0.0029321693460616894,0.0001563198035208023,0.0031967949224372535,-0.003436443759771377],"tcp_position_m":[0.08125230538324829,0.4772218363957203,0.43415111025062014],"tcp_quaternion_wxyz":[-3.0301811604142077e-05,0.7071082263856918,0.7071053309478377,7.876947087355082e-05],"object_position_m":[0.081235507902883,0.4777356024826728,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.652083215736306e-11,7.247224366762474e-13,1.0484555695726558e-06],"object_linear_velocity_m_s":[-8.866337359691162e-13,-2.021210092681166e-11,1.2729508363628301e-14],"object_angular_velocity_rad_s":[7.068238881428009e-10,-3.10066737394835e-11,1.9188195957377038e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313521771904845,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905873481586,-1.6109812982404597,1.3254821174669198,-1.3097737595064276,-1.5707935769940327,-0.44910957014783126,0.0],"actuator_force":[0.004204163493795932,-18.950183730255958,-20.21776227049122,-2.420149727689136,0.0006279102617554599,-2.1046323467999173e-05,-0.2932855959410655],"issued_joint_targets_rad":[-2.019905734031275,-1.601494120344736,1.3356277711306712,-1.3049439488453012,-1.5707949544543418,-0.44910941754211725],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.9799999999988,"joint_targets_rad":[-2.019905734031275,-1.601494120344736,1.3356277711306712,-1.3049439488453012,-1.5707949544543418,-0.44910941754211725],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":11.999999999998789,"qpos":[-2.0199135361642426,-1.6020994151985675,1.338268781689705,-1.3071230430821075,-1.570791469875234,-0.44911331813758376,0.002932286341046497,0.00015626374933105417,0.0031922318880765175,-0.0034279465652369908,0.0029323017978484093,0.00015631807484083317,0.003196890721588703,-0.0034365871834312477,0.08123550790285608,0.47773560248205993,0.2998922445797833,0.99999999999945,-1.7650667288042916e-11,7.742209259519649e-13,1.048455569584921e-06],"qvel":[2.949445351365465e-05,0.0029814522105207526,-0.013385493933287028,0.010954975448789983,-1.751551366201629e-05,1.9701232889238296e-05,6.3862540112534165e-06,1.7468408778240873e-07,6.057055224926449e-06,-6.498363517861075e-06,6.320566952255273e-06,-6.553988813049478e-08,4.762652399684046e-06,-6.782234523587075e-06,-9.565475346002994e-13,-2.1807646397667634e-11,1.2726732806066737e-14,6.220849573098627e-10,-2.7289720817697775e-11,3.503294506889889e-16],"joint_position_rad":[-2.0199135361642426,-1.6020994151985675,1.338268781689705,-1.3071230430821075,-1.570791469875234,-0.44911331813758376],"joint_velocity_rad_s":[2.949445351365465e-05,0.0029814522105207526,-0.013385493933287028,0.010954975448789983,-1.751551366201629e-05,1.9701232889238296e-05],"linkage_position_rad":[0.002932286341046497,0.00015626374933105417,0.0031922318880765175,-0.0034279465652369908,0.0029323017978484093,0.00015631807484083317,0.003196890721588703,-0.0034365871834312477],"tcp_position_m":[0.08125266099883456,0.4772230184834067,0.434233502603405],"tcp_quaternion_wxyz":[-2.8253617135554477e-05,0.7071081546178006,0.7071054033716406,7.34667959295702e-05],"object_position_m":[0.08123550790285608,0.47773560248205993,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7650667288042916e-11,7.742209259519649e-13,1.048455569584921e-06],"object_linear_velocity_m_s":[-9.565475346002994e-13,-2.1807646397667634e-11,1.2726732806066737e-14],"object_angular_velocity_rad_s":[6.220850145326141e-10,-2.7288416360761254e-11,3.503294507671015e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313521001252066,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199057237093396,-1.6109800820086457,1.325479491210316,-1.3097711022355958,-1.5707937199355249,-0.4491094173505796,0.0],"actuator_force":[0.003827128400644142,-18.953914504365002,-20.22438338546317,-2.4195271216232186,0.000626521220738141,-1.9729786828293072e-05,-0.2932929410495628],"issued_joint_targets_rad":[-2.0199055961258225,-1.6014923611278722,1.335624970456606,-1.3049415878477182,-1.5707950829667776,-0.44910927895795566],"issued_gripper_0_255":0.0,"command":{"t_seconds":11.999999999998789,"joint_targets_rad":[-2.0199055961258225,-1.6014923611278722,1.335624970456606,-1.3049415878477182,-1.5707950829667776,-0.44910927895795566],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.019999999998777,"qpos":[-2.01991294886232,-1.6020426075050924,1.3380145478847703,-1.306914871846695,-1.5707918145160025,-0.4491129316168043,0.002932408789866565,0.00015626739790936236,0.003192346995950096,-0.0034280720347794834,0.002932422758926151,0.00015631650392352347,0.0031969784840537793,-0.0034367180044434717,0.08123550790282988,0.477735602481462,0.2998922445797833,0.99999999999945,-1.853941125722222e-11,8.131675571554326e-13,1.0484555695988373e-06],"qvel":[2.8097497523867982e-05,0.0027110521875267812,-0.012110941081479035,0.009920421769558591,-1.6427585692623917e-05,1.8448931058682707e-05,5.829111986510867e-06,1.580405692831499e-07,5.5283573387047165e-06,-5.928616830117716e-06,5.769521316190306e-06,-5.982713550682657e-08,4.355163697578089e-06,-6.1849378631790895e-06,-1.0408356650917792e-12,-2.3730486182984382e-11,1.2725345027285957e-14,4.651228056386877e-10,-2.04030087562606e-11,6.396126770110923e-16],"joint_position_rad":[-2.01991294886232,-1.6020426075050924,1.3380145478847703,-1.306914871846695,-1.5707918145160025,-0.4491129316168043],"joint_velocity_rad_s":[2.8097497523867982e-05,0.0027110521875267812,-0.012110941081479035,0.009920421769558591,-1.6427585692623917e-05,1.8448931058682707e-05],"linkage_position_rad":[0.002932408789866565,0.00015626739790936236,0.003192346995950096,-0.0034280720347794834,0.002932422758926151,0.00015631650392352347,0.0031969784840537793,-0.0034367180044434717],"tcp_position_m":[0.08125297835464253,0.4772241031343832,0.43430789378972706],"tcp_quaternion_wxyz":[-2.631814154557595e-05,0.7071080839382037,0.7071054746294351,6.845201277525556e-05],"object_position_m":[0.08123550790282988,0.477735602481462,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.853941125722222e-11,8.131675571554326e-13,1.0484555695988373e-06],"object_linear_velocity_m_s":[-1.0408356650917792e-12,-2.3730486182984382e-11,1.2725345027285957e-14],"object_angular_velocity_rad_s":[4.651228484209611e-10,-2.0402033435023467e-11,6.396126770669642e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931352029397906,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905587699932,-1.610979035401573,1.3254771773195915,-1.309768709415958,-1.5707938495930027,-0.4491092787789102,0.0],"actuator_force":[0.003483325766865164,-18.957276667971655,-20.230364697766163,-2.418960961587345,0.0006252200690823884,-1.847415882139103e-05,-0.2932995706061493],"issued_joint_targets_rad":[-2.0199054710972555,-1.6014908078521801,1.3356224871161366,-1.3049394625625377,-1.570795199491794,-0.4491091532867712],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.019999999998777,"joint_targets_rad":[-2.0199054710972555,-1.6014908078521801,1.3356224871161366,-1.3049394625625377,-1.570795199491794,-0.4491091532867712],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.039999999998766,"qpos":[-2.019912390753603,-1.6019909565840977,1.3377845263985981,-1.3067263611390976,-1.5707921373677955,-0.4491125700393977,0.0029325204727153505,0.0001562706943788979,0.003192452025294755,-0.00342818638522351,0.002932533095949122,0.00015631507668426974,0.0031970587538340746,-0.003436837207636993,0.08123550790280278,0.47773560248084457,0.2998922445797833,0.99999999999945,-2.007868330396577e-11,8.806666455977313e-13,1.0484555696164048e-06],"qvel":[2.6707888382627607e-05,0.0024648859832467162,-0.010957538855912538,0.008983499499126399,-1.538915323636169e-05,1.7257395161684825e-05,5.314627837865558e-06,1.4296672887561777e-07,5.040178874660029e-06,-5.403037972754154e-06,5.260584471742816e-06,-5.4576160337865935e-08,3.9769765184429685e-06,-5.63457404039589e-06,-1.1901291977522993e-12,-2.713479111442557e-11,1.272673280606674e-14,2.467257148128101e-10,-1.0822641834340732e-11,1.1677724398519586e-15],"joint_position_rad":[-2.019912390753603,-1.6019909565840977,1.3377845263985981,-1.3067263611390976,-1.5707921373677955,-0.4491125700393977],"joint_velocity_rad_s":[2.6707888382627607e-05,0.0024648859832467162,-0.010957538855912538,0.008983499499126399,-1.538915323636169e-05,1.7257395161684825e-05],"linkage_position_rad":[0.0029325204727153505,0.0001562706943788979,0.003192452025294755,-0.00342818638522351,0.002932533095949122,0.00015631507668426974,0.0031970587538340746,-0.003436837207636993],"tcp_position_m":[0.08125326129682803,0.4772250979450874,0.4343750612616323],"tcp_quaternion_wxyz":[-2.449275993278889e-05,0.7071080147238495,0.7071055443519485,6.371918467036516e-05],"object_position_m":[0.08123550790280278,0.47773560248084457,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.007868330396577e-11,8.806666455977313e-13,1.0484555696164048e-06],"object_linear_velocity_m_s":[-1.1901291977522993e-12,-2.713479111442557e-11,1.272673280606674e-14],"object_angular_velocity_rad_s":[2.4672573750638565e-10,-1.0822124472417158e-11,1.1677724398841303e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313519646071328,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905464219045,-1.6109781327895432,1.3254751345708022,-1.3097665536047847,-1.5707939671907898,-0.44910915311963384,0.0],"actuator_force":[0.0031699137625764706,-18.96030680418926,-20.235768113226186,-2.4184461827560426,0.0006240038264877512,-1.727963422126777e-05,-0.29330555449477164],"issued_joint_targets_rad":[-2.019905357752284,-1.601489433800801,1.3356202815668494,-1.3049375485063162,-1.5707953051392556,-0.4491090393345846],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.039999999998766,"joint_targets_rad":[-2.019905357752284,-1.601489433800801,1.3356202815668494,-1.3049375485063162,-1.5707953051392556,-0.4491090393345846],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.059999999998755,"qpos":[-2.019911861426189,-1.601943999498264,1.3375764149293348,-1.3065556553306852,-1.5707924394763337,-0.4491122321432737,0.002932622230841451,0.00015627367280674577,0.0031925477547314006,-0.0034282905026211535,0.0029326336366494615,0.00015631378023979876,0.0031971320656291493,-0.0034369457254274584,0.081235507902776,0.47773560248023417,0.2998922445797833,0.99999999999945,-2.064615170736895e-11,9.055313659108645e-13,1.0484555696354971e-06],"qvel":[2.5335745537839682e-05,0.0022408286762799455,-0.009913811975553603,0.008135006342914615,-1.4400520130005317e-05,1.6126280973778614e-05,4.840736490810951e-06,1.293175022740863e-07,4.590550541157012e-06,-4.919366529529303e-06,4.791737672009618e-06,-4.975655718413708e-08,3.627135957004888e-06,-5.1285876667693035e-06,-1.3898216543797905e-12,-3.168893631306258e-11,1.2725345027285959e-14,-1.2470940495747518e-10,5.467244173618905e-12,2.1320607547465584e-15],"joint_position_rad":[-2.019911861426189,-1.601943999498264,1.3375764149293348,-1.3065556553306852,-1.5707924394763337,-0.4491122321432737],"joint_velocity_rad_s":[2.5335745537839682e-05,0.0022408286762799455,-0.009913811975553603,0.008135006342914615,-1.4400520130005317e-05,1.6126280973778614e-05],"linkage_position_rad":[0.002932622230841451,0.00015627367280674577,0.0031925477547314006,-0.0034282905026211535,0.0029326336366494615,0.00015631378023979876,0.0031971320656291493,-0.0034369457254274584],"tcp_position_m":[0.08125351331696842,0.4772260099846075,0.434435706876488],"tcp_quaternion_wxyz":[-2.2774296119046746e-05,0.7071079472792033,0.7071056122419611,5.9260807280522803e-05],"object_position_m":[0.081235507902776,0.47773560248023417,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.064615170736895e-11,9.055313659108645e-13,1.0484555696354971e-06],"object_linear_velocity_m_s":[-1.3898216543797905e-12,-3.168893631306258e-11,1.2725345027285959e-14],"object_angular_velocity_rad_s":[-1.2470941642152612e-10,5.466982669066543e-12,2.1320607548534167e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313519053510162,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905352137406,-1.6109773526816344,1.3254733277664326,-1.30976461039503,-1.5707940738421986,-0.4491090391787599,0.0],"actuator_force":[0.00288427935083746,-18.96303783725307,-20.24064953558309,-2.4179781664639677,0.0006228690805301085,-1.6145840447734372e-05,-0.29331095574535976],"issued_joint_targets_rad":[-2.019905255006568,-1.6014882161092596,1.335618319737993,-1.30493582389819,-1.5707954009177583,-0.4491089360161576],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.059999999998755,"joint_targets_rad":[-2.019905255006568,-1.6014882161092596,1.335618319737993,-1.30493582389819,-1.5707954009177583,-0.4491089360161576],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.079999999998744,"qpos":[-2.0199113603058647,-1.6019013140388758,1.337388129402895,-1.3064010737400633,-1.5707927218832436,-0.4491119166827936,0.0029327148608636255,0.00015627636394961557,0.0031926349236310833,-0.0034283852221707206,0.002932725165412793,0.0001563126028156434,0.0031971989377863157,-0.0034370444350880487,0.08123550790274998,0.4777356024796415,0.2998922445797833,0.99999999999945,-2.0033300328592183e-11,8.786234887700836e-13,1.0484555696551585e-06],"qvel":[2.398935878008204e-05,0.002036933580520346,-0.008969364493098446,0.007366605473166743,-1.3461501425238748e-05,1.5054778131260993e-05,4.405196734750549e-06,1.1696071968743952e-07,4.177337840034961e-06,-4.475192482015288e-06,4.36078272131576e-06,-4.5338495712830616e-08,3.3044343037734657e-06,-4.664310259285644e-06,-1.6829353733211685e-12,-3.837384458062499e-11,1.273367169997065e-14,-7.119405369925116e-10,3.1220426939063534e-11,3.89261212119618e-15],"joint_position_rad":[-2.0199113603058647,-1.6019013140388758,1.337388129402895,-1.3064010737400633,-1.5707927218832436,-0.4491119166827936],"joint_velocity_rad_s":[2.398935878008204e-05,0.002036933580520346,-0.008969364493098446,0.007366605473166743,-1.3461501425238748e-05,1.5054778131260993e-05],"linkage_position_rad":[0.0029327148608636255,0.00015627636394961557,0.0031926349236310833,-0.0034283852221707206,0.002932725165412793,0.0001563126028156434,0.0031971989377863157,-0.0034370444350880487],"tcp_position_m":[0.08125373757990768,0.4772268458205089,0.43449046425377535],"tcp_quaternion_wxyz":[-2.1159154745413727e-05,0.7071078818452611,0.707105678065234,5.506817112823852e-05],"object_position_m":[0.08123550790274998,0.4777356024796415,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0033300328592183e-11,8.786234887700836e-13,1.0484555696551585e-06],"object_linear_velocity_m_s":[-1.6829353733211685e-12,-3.837384458062499e-11,1.273367169997065e-14],"object_angular_velocity_rad_s":[-7.119406024574068e-10,3.1218934062952485e-11,3.89261212138512e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313518512345048,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905250422928,-1.6109766770244558,1.3254717267790914,-1.3097628580500038,-1.5707941705592638,-0.44910893587104767,0.0],"actuator_force":[0.0026240223619424796,-18.965499403368085,-20.245059450368444,-2.417552702286912,0.000621812132294508,-1.5071940168809306e-05,-0.2933158312111013],"issued_joint_targets_rad":[-2.019905161875069,-1.6014871351584656,1.3356165721987092,-1.304934269336232,-1.5707954877435983,-0.4491088423453906],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.079999999998744,"joint_targets_rad":[-2.019905161875069,-1.6014871351584656,1.3356165721987092,-1.304934269336232,-1.5707954877435983,-0.4491088423453906],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.099999999998733,"qpos":[-2.019910886687234,-1.601862515284528,1.3372177834182841,-1.3062610941717416,-1.570792985617684,-0.4491116224367396,0.002932799112383844,0.000156278795577717,0.0031927142293262036,-0.003428471326770718,0.002932808420770216,0.00015631153365951872,0.0031972598673850224,-0.003437134157694371,0.08123550790272545,0.4777356024790826,0.2998922445797833,0.99999999999945,-1.7901425995887836e-11,7.85102459509714e-13,1.0484555696732672e-06],"qvel":[2.267541955492986e-05,0.001851418763106614,-0.008114779684650563,0.00667074445875674,-1.2571511108572429e-05,1.4041698886212655e-05,4.005676504038765e-06,1.0577593878609071e-07,3.7983214389226566e-06,-4.068039638735425e-06,3.965427378464824e-06,-4.129307837337391e-08,3.0074985404480997e-06,-4.23903504843686e-06,-2.1554554077001617e-12,-4.9150453707747974e-11,1.2730896142409086e-14,-1.589742399171931e-09,6.971454262347827e-11,7.106952329376217e-15],"joint_position_rad":[-2.019910886687234,-1.601862515284528,1.3372177834182841,-1.3062610941717416,-1.570792985617684,-0.4491116224367396],"joint_velocity_rad_s":[2.267541955492986e-05,0.001851418763106614,-0.008114779684650563,0.00667074445875674,-1.2571511108572429e-05,1.4041698886212655e-05],"linkage_position_rad":[0.002932799112383844,0.000156278795577717,0.0031927142293262036,-0.003428471326770718,0.002932808420770216,0.00015631153365951872,0.0031972598673850224,-0.003437134157694371],"tcp_position_m":[0.08125393695030354,0.47722761154548454,0.4345399054150444],"tcp_quaternion_wxyz":[-1.964343280593122e-05,0.7071078186077241,0.7071057416423044,5.113166797741073e-05],"object_position_m":[0.08123550790272545,0.4777356024790826,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7901425995887836e-11,7.85102459509714e-13,1.0484555696732672e-06],"object_linear_velocity_m_s":[-2.1554554077001617e-12,-4.9150453707747974e-11,1.2730896142409086e-14],"object_angular_velocity_rad_s":[-1.5897425453536358e-09,6.971120907477969e-11,7.106952329677885e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313518018745923,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990515813322,-1.610976090623471,1.3254703057555193,-1.3097612771862066,-1.570794258261683,-0.4491088422104026,0.0],"actuator_force":[0.0023869402066338807,-18.96771818312891,-20.249043451669422,-2.4171659531081104,0.0006208291114262465,-1.4056720118560406e-05,-0.29332023217711545],"issued_joint_targets_rad":[-2.019905077463198,-1.6014861740694997,1.3356150134617992,-1.3049328675162581,-1.570795566448995,-0.4491087574265133],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.099999999998733,"joint_targets_rad":[-2.019905077463198,-1.6014861740694997,1.3356150134617992,-1.3049328675162581,-1.570795566448995,-0.4491087574265133],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.119999999998722,"qpos":[-2.019910439760952,-1.601827252425003,1.3370636696047187,-1.306134337998121,-1.5707932316895616,-0.4491113482146737,0.002932875687050105,0.0001562809927671135,0.003192786325792091,-0.0034285495468727857,0.002932884094351275,0.0001563105629595826,0.0031973153269832222,-0.0034372156583297063,0.08123550790269873,0.47773560247847324,0.2998922445797833,0.99999999999945,-1.800571684406821e-11,7.896498054005353e-13,1.048455569700226e-06],"qvel":[2.139922901451016e-05,0.001682654298698369,-0.007341528964107407,0.006040581732843356,-1.17296379298187e-05,1.3085554726582422e-05,3.63981770873652e-06,9.565368901987415e-08,3.4512588955517106e-06,-3.6954243973748855e-06,3.603350318409492e-06,-3.759256161670949e-08,2.7348581229321362e-06,-3.850074154169668e-06,-9.707720388037474e-13,-2.213611982003228e-11,1.273367169997065e-14,6.704009783052909e-10,-2.940239868324804e-11,7.699794590440319e-16],"joint_position_rad":[-2.019910439760952,-1.601827252425003,1.3370636696047187,-1.306134337998121,-1.5707932316895616,-0.4491113482146737],"joint_velocity_rad_s":[2.139922901451016e-05,0.001682654298698369,-0.007341528964107407,0.006040581732843356,-1.17296379298187e-05,1.3085554726582422e-05],"linkage_position_rad":[0.002932875687050105,0.0001562809927671135,0.003192786325792091,-0.0034285495468727857,0.002932884094351275,0.0001563105629595826,0.0031973153269832222,-0.0034372156583297063],"tcp_position_m":[0.0812541140177394,0.4772283128042731,0.4345845467770035],"tcp_quaternion_wxyz":[-1.8223013390226046e-05,0.7071077577043758,0.7071058028411006,4.744104871492064e-05],"object_position_m":[0.08123550790269873,0.47773560247847324,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.800571684406821e-11,7.896498054005353e-13,1.048455569700226e-06],"object_linear_velocity_m_s":[-9.707720388037474e-13,-2.213611982003228e-11,1.273367169997065e-14],"object_angular_velocity_rad_s":[6.704010399580339e-10,-2.940099291190408e-11,7.69979459077197e-16],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313517569039666,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019905074408504,-1.610975580665068,1.3254690424531936,-1.309759850497492,-1.570794337785016,-0.4491087573010647,0.0],"actuator_force":[0.0021710132900807366,-18.96971819960936,-20.25264271740707,-2.4168144229698783,0.0006199160658297842,-1.3098668176780848e-05,-0.2933242049102047],"issued_joint_targets_rad":[-2.019905000958706,-1.6014853182824509,1.3356136213999341,-1.304931602987019,-1.570795637789626,-0.4491086804460144],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.119999999998722,"joint_targets_rad":[-2.019905000958706,-1.6014853182824509,1.3356136213999341,-1.304931602987019,-1.570795637789626,-0.4491086804460144],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.139999999998711,"qpos":[-2.019910018637415,-1.6017952058347784,1.3369242427172097,-1.3060195566410644,-1.5707934610841052,-0.4491110928619089,0.0029329452387073015,0.0001562829781626295,0.003192851823435217,-0.0034286205612897498,0.0029329528309352437,0.00015630968176749425,0.0031973657626439334,-0.0034372896472351392,0.08123550790267141,0.47773560247784935,0.2998922445797833,0.99999999999945,-1.9029335675613677e-11,8.345134900694361e-13,1.048455569734725e-06],"qvel":[2.0164884365464746e-05,0.001529150281075542,-0.006641889057349468,0.005469919907269671,-1.0934710811396231e-05,1.2184622244140883e-05,3.3052844151324944e-06,8.649433272301061e-08,3.1339294206650943e-06,-3.354902875640198e-06,3.2722494783585972e-06,-3.421054526706554e-08,2.4849959673061997e-06,-3.4948031508205778e-06,-1.055064973884028e-12,-2.405907733305545e-11,1.2719793912162833e-14,5.305381426334421e-10,-2.3268011598195716e-11,1.405788316891175e-15],"joint_position_rad":[-2.019910018637415,-1.6017952058347784,1.3369242427172097,-1.3060195566410644,-1.5707934610841052,-0.4491110928619089],"joint_velocity_rad_s":[2.0164884365464746e-05,0.001529150281075542,-0.006641889057349468,0.005469919907269671,-1.0934710811396231e-05,1.2184622244140883e-05],"linkage_position_rad":[0.0029329452387073015,0.0001562829781626295,0.003192851823435217,-0.0034286205612897498,0.0029329528309352437,0.00015630968176749425,0.0031973657626439334,-0.0034372896472351392],"tcp_position_m":[0.08125427112031879,0.4772289548204182,0.43462485456088995],"tcp_quaternion_wxyz":[-1.6893644058704314e-05,0.7071076992317036,0.7071058615703267,4.398563933500246e-05],"object_position_m":[0.08123550790267141,0.47773560247784935,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9029335675613677e-11,8.345134900694361e-13,1.048455569734725e-06],"object_linear_velocity_m_s":[-1.055064973884028e-12,-2.405907733305545e-11,1.2719793912162833e-14],"object_angular_velocity_rad_s":[5.305381914232281e-10,-2.3266899106803287e-11,1.4057883169370955e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313517159734228,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199049984649435,-1.6109751363214764,1.325467917686634,-1.3097585625146764,-1.5707944098882016,-0.4491086803295373,0.0],"actuator_force":[0.001974391197109071,-18.971521085826225,-20.255894438211726,-2.4164949275329946,0.0006190690329503923,-1.2196038625233996e-05,-0.2933277911515947],"issued_joint_targets_rad":[-2.01990493162427,-1.6014845552047472,1.335612376755327,-1.3049304619366924,-1.5707957024515187,-0.44910861066524793],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.139999999998711,"joint_targets_rad":[-2.01990493162427,-1.6014845552047472,1.335612376755327,-1.3049304619366924,-1.5707957024515187,-0.44910861066524793],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.1599999999987,"qpos":[-2.0199096223672797,-1.601766084380512,1.3367981043121673,-1.3059156193225507,-1.570793674757618,-0.44911085526329303,0.0029330083743503202,0.00015628477221488567,0.0031929112897019158,-0.0034286849987159745,0.0029330152293140744,0.0001563088819275012,0.0031974115929521547,-0.0034373567816049625,0.08123550790264476,0.4777356024772417,0.2998922445797833,0.99999999999945,-1.9673237820232737e-11,8.627471729866528e-13,1.0484555697733363e-06],"qvel":[1.897544520841004e-05,0.0013895455952027723,-0.006008866726598197,0.004953145303983061,-1.018535501914697e-05,1.133699959475327e-05,2.9997982613442367e-06,7.820735311368399e-08,2.8441679550333766e-06,-3.044103861620024e-06,2.969877631091522e-06,-3.11220329465203e-08,2.256388176808247e-06,-3.1706875621923675e-06,-1.164822330178637e-12,-2.6562057119625724e-11,1.272673280606674e-14,2.926630732719476e-10,-1.2834722907492337e-11,2.5666092490777544e-15],"joint_position_rad":[-2.0199096223672797,-1.601766084380512,1.3367981043121673,-1.3059156193225507,-1.570793674757618,-0.44911085526329303],"joint_velocity_rad_s":[1.897544520841004e-05,0.0013895455952027723,-0.006008866726598197,0.004953145303983061,-1.018535501914697e-05,1.133699959475327e-05],"linkage_position_rad":[0.0029330083743503202,0.00015628477221488567,0.0031929112897019158,-0.0034286849987159745,0.0029330152293140744,0.0001563088819275012,0.0031974115929521547,-0.0034373567816049625],"tcp_position_m":[0.08125441036671475,0.4772295424225313,0.43466124967505226],"tcp_quaternion_wxyz":[-1.565100196587261e-05,0.707107643250826,0.7071059177735518,4.075452078933035e-05],"object_position_m":[0.08123550790264476,0.4777356024772417,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9673237820232737e-11,8.627471729866528e-13,1.0484555697733363e-06],"object_linear_velocity_m_s":[-1.164822330178637e-12,-2.6562057119625724e-11,1.272673280606674e-14],"object_angular_velocity_rad_s":[2.9266310018457735e-10,-1.2834109219005531e-11,2.56660924907829e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313516787533344,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904929588408,-1.6109747484238626,1.3254669148646137,-1.309757399395667,-1.5707944752604348,-0.44910861055719253,0.0],"actuator_force":[0.0017953796600522764,-18.973146324782192,-20.25883220446758,-2.4162045669564804,0.0006182840935480272,-1.1346909218445944e-05,-0.2933310285626819],"issued_joint_targets_rad":[-2.0199048687907144,-1.6014838739169546,1.3356112627270553,-1.3049294320062774,-1.5707957610573482,-0.44910854741368494],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.1599999999987,"joint_targets_rad":[-2.0199048687907144,-1.6014838739169546,1.3356112627270553,-1.3049294320062774,-1.5707957610573482,-0.44910854741368494],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.179999999998689,"qpos":[-2.019909249959112,-1.6017396229469976,1.3366839888583217,-1.30582150196592,-1.5707938736342313,-0.44911063434597887,0.0029330656556532946,0.00015628639339426332,0.0031929652502895073,-0.0034287434397113773,0.002933071843739811,0.0001563081560096646,0.0031974532087723205,-0.0034374176678620707,0.08123550790261899,0.47773560247665375,0.2998922445797833,0.99999999999945,-1.97322158110475e-11,8.653246260745289e-13,1.0484555698152987e-06],"qvel":[1.7833081484373228e-05,0.0012625974399046612,-0.005436130389269134,0.004485173130633935,-9.480040242452019e-06,1.0540654576340165e-05,2.7211634993545656e-06,7.07105441685431e-08,2.5798884836571353e-06,-2.760749992129416e-06,2.694067601321414e-06,-2.8303578862185312e-08,2.047532035347297e-06,-2.8753069494767867e-06,-1.326131917304651e-12,-3.024097130981018e-11,1.2732283921189866e-14,-8.169629548211786e-11,3.581757077750993e-12,4.686007039616575e-15],"joint_position_rad":[-2.019909249959112,-1.6017396229469976,1.3366839888583217,-1.30582150196592,-1.5707938736342313,-0.44911063434597887],"joint_velocity_rad_s":[1.7833081484373228e-05,0.0012625974399046612,-0.005436130389269134,0.004485173130633935,-9.480040242452019e-06,1.0540654576340165e-05],"linkage_position_rad":[0.0029330656556532946,0.00015628639339426332,0.0031929652502895073,-0.0034287434397113773,0.002933071843739811,0.0001563081560096646,0.0031974532087723205,-0.0034374176678620707],"tcp_position_m":[0.08125453365667387,0.4772300800698297,0.4346941121221371],"tcp_quaternion_wxyz":[-1.4490747580839837e-05,0.7071075897927679,0.7071059714239609,3.773667773212868e-05],"object_position_m":[0.08123550790261899,0.47773560247665375,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.97322158110475e-11,8.653246260745289e-13,1.0484555698152987e-06],"object_linear_velocity_m_s":[-1.326131917304651e-12,-3.024097130981018e-11,1.2732283921189866e-14],"object_angular_velocity_rad_s":[-8.16963029925645e-11,3.581585767871238e-12,4.686007039655584e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351644934373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990486712865,-1.6109744091915261,1.3254660196026542,-1.3097563487418469,-1.5707945345274528,-0.44910854731352146,0.0],"actuator_force":[0.0016324283296853537,-18.974611465018825,-20.261486355627767,-2.415940701026784,0.0006175574135340867,-1.0549228932177357e-05,-0.2933339511251587],"issued_joint_targets_rad":[-2.019904811850818,-1.6014832649262172,1.3356102646230883,-1.304928502126201,-1.57079581417219,-0.44910849008274023],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.179999999998689,"joint_targets_rad":[-2.019904811850818,-1.6014832649262172,1.3356102646230883,-1.304928502126201,-1.57079581417219,-0.44910849008274023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.199999999998678,"qpos":[-2.0199089003944906,-1.601715580166469,1.3365807511509766,-1.3057362771401864,-1.5707940586035145,-0.44911042908133536,0.002933117600897855,0.00015628785838357168,0.003193014190769998,-0.00342879641904686,0.002933123185778825,0.00015630749724862962,0.0031974909735603086,-0.0034374728642288174,0.08123550790259433,0.4777356024760912,0.2998922445797833,0.99999999999945,-1.891185047638651e-11,8.293474185255656e-13,1.0484555698585118e-06],"qvel":[1.673920462663483e-05,0.0011471715811942232,-0.004917948025954885,0.004061397778989071,-8.81712155489101e-06,9.793465459625977e-06,2.467284183761853e-06,6.392932700681538e-08,2.3391000566343438e-06,-2.5026748475677388e-06,2.4427496196945133e-06,-2.573313748559574e-08,1.8569678455918123e-06,-2.6063654905846583e-06,-1.5843709363776976e-12,-3.612956756590078e-11,1.272673280606674e-14,-6.457555569205229e-10,2.8319703576460536e-11,8.555451035695467e-15],"joint_position_rad":[-2.0199089003944906,-1.601715580166469,1.3365807511509766,-1.3057362771401864,-1.5707940586035145,-0.44911042908133536],"joint_velocity_rad_s":[1.673920462663483e-05,0.0011471715811942232,-0.004917948025954885,0.004061397778989071,-8.81712155489101e-06,9.793465459625977e-06],"linkage_position_rad":[0.002933117600897855,0.00015628785838357168,0.003193014190769998,-0.00342879641904686,0.002933123185778825,0.00015630749724862962,0.0031974909735603086,-0.0034374728642288174],"tcp_position_m":[0.08125464270000861,0.47723057187676193,0.43472378497722985],"tcp_quaternion_wxyz":[-1.3408568610463623e-05,0.7071075388631398,0.7071060225197052,3.492112054276177e-05],"object_position_m":[0.08123550790259433,0.4777356024760912,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.891185047638651e-11,8.293474185255656e-13,1.0484555698585118e-06],"object_linear_velocity_m_s":[-1.5843709363776976e-12,-3.612956756590078e-11,1.272673280606674e-14],"object_angular_velocity_rad_s":[-6.457556163030046e-10,2.8318349484377737e-11,8.555451035676527e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313516142277091,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199048104939004,-1.610974112007342,1.3254652193980305,-1.309755399437126,-1.5707945882572805,-0.44910848998996084,0.0],"actuator_force":[0.0014841193296888378,-18.975932314223428,-20.263884295510252,-2.4157009263687996,0.0006168852723931195,-9.800858691733083e-06,-0.2933365895028513],"issued_joint_targets_rad":[-2.019904760253672,-1.6014827199591841,1.3356093695662261,-1.304927662372969,-1.5707958623087643,-0.4491084381201392],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.199999999998678,"joint_targets_rad":[-2.019904760253672,-1.6014827199591841,1.3356093695662261,-1.304927662372969,-1.5707958623087643,-0.4491084381201392],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.219999999998667,"qpos":[-2.0199085726408503,-1.6016937363366486,1.3364873549092848,-1.3056591049498505,-1.5707942305188127,-0.44911023848613274,0.0029331646871626075,0.00015628918225173868,0.0031930585585051813,-0.0034288444282064632,0.0029331697264341943,0.00015630689948656248,0.0031975252240835127,-0.0034375228834647945,0.08123550790256995,0.477735602475535,0.2998922445797833,0.99999999999945,-1.8007761191589807e-11,7.897046388456734e-13,1.0484555699065214e-06],"qvel":[1.5694583484374982e-05,0.0010422333097260135,-0.00444913082078993,0.003677647772088171,-8.194874158857474e-06,9.093255427358788e-06,2.2361749454458573e-06,5.779594834662813e-08,2.119917354043389e-06,-2.26783125029861e-06,2.2139622688065437e-06,-2.339026250852181e-08,1.683292818269421e-06,-2.3617011970488062e-06,-2.0218915056026825e-12,-4.610596141930808e-11,1.2728120584847522e-14,-1.4650096881815792e-09,6.425051168834917e-11,1.5620156699201282e-14],"joint_position_rad":[-2.0199085726408503,-1.6016937363366486,1.3364873549092848,-1.3056591049498505,-1.5707942305188127,-0.44911023848613274],"joint_velocity_rad_s":[1.5694583484374982e-05,0.0010422333097260135,-0.00444913082078993,0.003677647772088171,-8.194874158857474e-06,9.093255427358788e-06],"linkage_position_rad":[0.0029331646871626075,0.00015628918225173868,0.0031930585585051813,-0.0034288444282064632,0.0029331697264341943,0.00015630689948656248,0.0031975252240835127,-0.0034375228834647945],"tcp_position_m":[0.08125473903413115,0.4772310216366053,0.4347505779787685],"tcp_quaternion_wxyz":[-1.2400215535563437e-05,0.707107490446279,0.7071060710797951,3.229698444359331e-05],"object_position_m":[0.08123550790256995,0.477735602475535,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8007761191589807e-11,7.897046388456734e-13,1.0484555699065214e-06],"object_linear_velocity_m_s":[-2.0218915056026825e-12,-4.610596141930808e-11,1.2728120584847522e-14],"object_angular_velocity_rad_s":[-1.465009822905971e-09,6.424743969307335e-11,1.5620156699090848e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313515863647633,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904759145861,-1.6109738512313023,1.3254645033566703,-1.309754541506591,-1.5707946369654677,-0.44910843803425904,0.0],"actuator_force":[0.0013491565846379672,-18.977123113198104,-20.26605077691329,-2.4154830555791023,0.0006162640884213033,-9.099605875917405e-06,-0.29333897136591136],"issued_joint_targets_rad":[-2.019904713499527,-1.6014822317877369,1.335608566245045,-1.3049269038431597,-1.5707959059322236,-0.44910839102478517],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.219999999998667,"joint_targets_rad":[-2.019904713499527,-1.6014822317877369,1.335608566245045,-1.3049269038431597,-1.5707959059322236,-0.44910839102478517],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.239999999998656,"qpos":[-2.0199082656623006,-1.6016738915135786,1.3364028624469653,-1.305589224781676,-1.5707943901961938,-0.44911006162311984,0.0029332073526669583,0.00015629037861057625,0.0031930987647274304,-0.0034288879180370633,0.0029332118984287643,0.000156306357120763,0.0031975562714205747,-0.003437568195710959,0.08123550790254432,0.4777356024749508,0.2998922445797833,0.99999999999945,-1.7688262226910913e-11,7.757020035468425e-13,1.0484555699657724e-06],"qvel":[1.469944637344063e-05,0.0009468390709394508,-0.004024982022507995,0.0033301449291560595,-7.61152270651999e-06,8.437821415150593e-06,2.0259672101144515e-06,5.224899429949534e-08,1.920566044429546e-06,-2.054297419646461e-06,2.005858863820794e-06,-2.1255845501762316e-08,1.5251717317660842e-06,-2.1392883523177353e-06,-9.464675252101785e-13,-2.158274324388952e-11,1.2728120584847522e-14,6.727385941209361e-10,-2.950280455369611e-11,1.6923161042276744e-15],"joint_position_rad":[-2.0199082656623006,-1.6016738915135786,1.3364028624469653,-1.305589224781676,-1.5707943901961938,-0.44911006162311984],"joint_velocity_rad_s":[1.469944637344063e-05,0.0009468390709394508,-0.004024982022507995,0.0033301449291560595,-7.61152270651999e-06,8.437821415150593e-06],"linkage_position_rad":[0.0029332073526669583,0.00015629037861057625,0.0031930987647274304,-0.0034288879180370633,0.0029332118984287643,0.000156306357120763,0.0031975562714205747,-0.003437568195710959],"tcp_position_m":[0.08125482404018337,0.4772314328439529,0.43477477076998106],"tcp_quaternion_wxyz":[-1.146152997574918e-05,0.7071074445088865,0.707106117140494,2.9853609040967412e-05],"object_position_m":[0.08123550790254432,0.4777356024749508,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7688262226910913e-11,7.757020035468425e-13,1.0484555699657724e-06],"object_linear_velocity_m_s":[-9.464675252101785e-13,-2.158274324388952e-11,1.2728120584847522e-14],"object_angular_velocity_rad_s":[6.727386559842161e-10,-2.950139388057889e-11,1.6923161042200088e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313515610966908,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199047125950784,-1.6109736220454962,1.325463861963195,-1.3097537659921181,-1.5707946811198745,-0.4491083909453429,0.0],"actuator_force":[0.0012263558951417508,-18.978196692210986,-20.26800815853676,-2.4152850981366782,0.0006156904303225019,-8.443253022960562e-06,-0.2933411216851558],"issued_joint_targets_rad":[-2.019904671135103,-1.601481794081998,1.335607844702487,-1.30492621854246,-1.5707959454645088,-0.4491083483420747],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.239999999998656,"joint_targets_rad":[-2.019904671135103,-1.601481794081998,1.335607844702487,-1.30492621854246,-1.5707959454645088,-0.4491083483420747],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.259999999998644,"qpos":[-2.0199079784286833,-1.601655863765957,1.3363264253167393,-1.3055259478281276,-1.5707945384139108,-0.4491098976010947,0.0029332459991882223,0.00015629145975630982,0.003193135186720401,-0.0034289273013944194,0.002933250098567214,0.00015630586505523583,0.003197584402158853,-0.0034376092313252097,0.08123550790251635,0.47773560247431346,0.2998922445797833,0.99999999999945,-1.9171643779493452e-11,8.407494354749731e-13,1.0484555700512076e-06],"qvel":[1.3753570713686493e-05,0.0008601287334808217,-0.003641250556846844,0.003015467356486303,-7.065265860854944e-06,7.824958127182987e-06,1.834911605883705e-06,4.723281617520062e-08,1.7393852499391467e-06,-1.8602766687499518e-06,1.8167100111805064e-06,-1.9312220325026505e-08,1.3813424588147109e-06,-1.9372381211608752e-06,-1.0495275666583867e-12,-2.3933018022057985e-11,1.2730896142409084e-14,5.70221448373213e-10,-2.5007247126786906e-11,3.089743968096412e-15],"joint_position_rad":[-2.0199079784286833,-1.601655863765957,1.3363264253167393,-1.3055259478281276,-1.5707945384139108,-0.4491098976010947],"joint_velocity_rad_s":[1.3753570713686493e-05,0.0008601287334808217,-0.003641250556846844,0.003015467356486303,-7.065265860854944e-06,7.824958127182987e-06],"linkage_position_rad":[0.0029332459991882223,0.00015629145975630982,0.003193135186720401,-0.0034289273013944194,0.002933250098567214,0.00015630586505523583,0.003197584402158853,-0.0034376092313252097],"tcp_position_m":[0.08125489895784328,0.47723180871604637,0.43479661582488577],"tcp_quaternion_wxyz":[-1.058846694862663e-05,0.707107401003226,0.7071061607521579,2.75806011689839e-05],"object_position_m":[0.08123550790251635,0.47773560247431346,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9171643779493452e-11,8.407494354749731e-13,1.0484555700512076e-06],"object_linear_velocity_m_s":[-1.0495275666583867e-12,-2.3933018022057985e-11,1.2730896142409084e-14],"object_angular_velocity_rad_s":[5.702215008099341e-10,-2.500605142302437e-11,3.089743968106788e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313515381936395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199046703966737,-1.6109734203250479,1.3254632868868996,-1.3097530648427236,-1.5707947211450244,-0.44910834826863266,0.0],"actuator_force":[0.0011146357333018386,-18.97916461157365,-20.269776636940605,-2.4151052429467654,0.0006151610293727572,-7.829581704754673e-06,-0.2933430629958571],"issued_joint_targets_rad":[-2.0199046327493195,-1.601481401286059,1.3356071961559541,-1.3049255992877586,-1.5707959812883205,-0.4491083096596369],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.259999999998644,"joint_targets_rad":[-2.0199046327493195,-1.601481401286059,1.3356071961559541,-1.3049255992877586,-1.5707959812883205,-0.4491083096596369],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.279999999998633,"qpos":[-2.019907709923063,-1.6016394875784479,1.3362572758377802,-1.305468650314646,-1.5707946759122922,-0.44910974557455835,0.00293328099448988,0.00015629243679714518,0.00319316817002548,-0.003428962955782703,0.0029332846901145055,0.0001563054186562631,0.0031976098797130304,-0.0034376463836818683,0.08123550790248879,0.47773560247368535,0.2998922445797833,0.99999999999945,-2.0136019656866655e-11,8.830462236411475e-13,1.0484555701473208e-06],"qvel":[1.2856361415024764e-05,0.0007813184598530971,-0.0032940889606788613,0.002730515908580785,-6.554296748678143e-06,7.252477808665304e-06,1.6613776636055145e-06,4.269687574975129e-08,1.5748270744640664e-06,-1.6840976316232698e-06,1.6449034637822365e-06,-1.7543050091866338e-08,1.250619458755943e-06,-1.7537959103678324e-06,-1.165973018045875e-12,-2.658817807030869e-11,1.2733671699970648e-14,3.6440260184965625e-10,-1.5980561819959303e-11,5.641092230862179e-15],"joint_position_rad":[-2.019907709923063,-1.6016394875784479,1.3362572758377802,-1.305468650314646,-1.5707946759122922,-0.44910974557455835],"joint_velocity_rad_s":[1.2856361415024764e-05,0.0007813184598530971,-0.0032940889606788613,0.002730515908580785,-6.554296748678143e-06,7.252477808665304e-06],"linkage_position_rad":[0.00293328099448988,0.00015629243679714518,0.00319316817002548,-0.003428962955782703,0.0029332846901145055,0.0001563054186562631,0.0031976098797130304,-0.0034376463836818683],"tcp_position_m":[0.08125496489887962,0.47723215221293214,0.4348163410895943],"tcp_quaternion_wxyz":[-9.777111940756567e-06,0.7071073598699087,0.7071062019764793,2.5467883548706138e-05],"object_position_m":[0.08123550790248879,0.47773560247368535,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0136019656866655e-11,8.830462236411475e-13,1.0484555701473208e-06],"object_linear_velocity_m_s":[-1.165973018045875e-12,-2.658817807030869e-11,1.2733671699970648e-14],"object_angular_velocity_rad_s":[3.644026353586729e-10,-1.597979770004856e-11,5.64109223084789e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313515174438586,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199046321464262,-1.610973242530503,1.3254627708176652,-1.309752430817708,-1.5707947574260748,-0.44910830959178105,0.0],"actuator_force":[0.001013008707559493,-18.98003728805179,-20.27137445595872,-2.414941842389112,0.0006146727836267019,-7.2563922230983735e-06,-0.29334481563585624],"issued_joint_targets_rad":[-2.0199045979694046,-1.6014810485126691,1.3356066128438633,-1.3049250396206344,-1.5707960137507295,-0.4491082746034473],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.279999999998633,"joint_targets_rad":[-2.0199045979694046,-1.6014810485126691,1.3356066128438633,-1.3049250396206344,-1.5707960137507295,-0.4491082746034473],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.299999999998622,"qpos":[-2.019907459147858,-1.60162461239219,1.3361947194237132,-1.3054167673647086,-1.5707948033939834,-0.4491096047430274,0.002933312674715736,0.00015629331976846347,0.003193198030633799,-0.0034289952259285634,0.0029333160051449435,0.00015630501371178792,0.003197632945708541,-0.003437680011900522,0.08123550790246196,0.4777356024730729,0.2998922445797833,0.99999999999945,-2.046345878205911e-11,8.973947641646363e-13,1.0484555702527173e-06],"qvel":[1.2006919265006428e-05,0.0007096941425540705,-0.0029800152445931434,0.002472483796127529,-6.0768198347934485e-06,6.718226401183799e-06,1.5038515920397892e-06,3.8595527720015296e-08,1.4254548815839084e-06,-1.5242096916544692e-06,1.4889420297061986e-06,-1.5933254045225633e-08,1.1318946503548174e-06,-1.5873369711959094e-06,-1.3224040601063883e-12,-3.015592239012758e-11,1.2732283921189865e-14,2.2105575740578547e-11,-9.706112340843545e-13,1.0299206472657912e-14],"joint_position_rad":[-2.019907459147858,-1.60162461239219,1.3361947194237132,-1.3054167673647086,-1.5707948033939834,-0.4491096047430274],"joint_velocity_rad_s":[1.2006919265006428e-05,0.0007096941425540705,-0.0029800152445931434,0.002472483796127529,-6.0768198347934485e-06,6.718226401183799e-06],"linkage_position_rad":[0.002933312674715736,0.00015629331976846347,0.003193198030633799,-0.0034289952259285634,0.0029333160051449435,0.00015630501371178792,0.003197632945708541,-0.003437680011900522],"tcp_position_m":[0.08125502285953641,0.47723246605644615,0.43483415236664436],"tcp_quaternion_wxyz":[-9.023693597000987e-06,0.7071073210403236,0.7071062408840905,2.3505731439090264e-05],"object_position_m":[0.08123550790246196,0.4777356024730729,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.046345878205911e-11,8.973947641646363e-13,1.0484555702527173e-06],"object_linear_velocity_m_s":[-1.3224040601063883e-12,-3.015592239012758e-11,1.2732283921189865e-14],"object_angular_velocity_rad_s":[2.210557777581546e-11,-9.705648806537607e-13,1.0299206472706224e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514986527317,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199045974771628,-1.6109730856179645,1.3254623073269012,-1.309751857400983,-1.5707947903124295,-0.449108274540787,0.0],"actuator_force":[0.0009205736841977341,-18.980824108570232,-20.272818095786533,-2.414793397749918,0.0006142227604186701,-6.721519923758024e-06,-0.2933463979611427],"issued_joint_targets_rad":[-2.019904566457359,-1.6014807314537705,1.335606087894427,-1.3049245337307587,-1.5707960431664671,-0.4491082428343003],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.299999999998622,"joint_targets_rad":[-2.019904566457359,-1.6014807314537705,1.335606087894427,-1.3049245337307587,-1.5707960431664671,-0.4491082428343003],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.319999999998611,"qpos":[-2.0199072251297787,-1.601611101271478,1.336138127636245,-1.3053697874427905,-1.5707949215244792,-0.44910947435007387,0.0029333413467163613,0.00015629411773643035,0.0031932250571252447,-0.0034290244262464723,0.0029333443468277697,0.00015630464639368113,0.0031976538213912054,-0.003437710443450505,0.0812355079024361,0.4777356024724831,0.2998922445797833,0.99999999999945,-1.9918183079653133e-11,8.73460945212129e-13,1.0484555703631099e-06],"qvel":[1.1204100326995489e-05,0.0006446053690780482,-0.0026958783249683383,0.0022388290474693226,-5.6310647044753905e-06,6.220096506596695e-06,1.3609324091977795e-06,3.488730258846907e-08,1.2899387431471798e-06,-1.3791807170975804e-06,1.3474398423751129e-06,-1.4469008114398759e-08,1.024136698166201e-06,-1.4363619357795378e-06,-1.5622977207256837e-12,-3.5627607450712194e-11,1.2733671699970645e-14,-5.049345867701062e-10,2.2139574851346927e-11,1.8803827743524165e-14],"joint_position_rad":[-2.0199072251297787,-1.601611101271478,1.336138127636245,-1.3053697874427905,-1.5707949215244792,-0.44910947435007387],"joint_velocity_rad_s":[1.1204100326995489e-05,0.0006446053690780482,-0.0026958783249683383,0.0022388290474693226,-5.6310647044753905e-06,6.220096506596695e-06],"linkage_position_rad":[0.0029333413467163613,0.00015629411773643035,0.0031932250571252447,-0.0034290244262464723,0.0029333443468277697,0.00015630464639368113,0.0031976538213912054,-0.003437710443450505],"tcp_position_m":[0.0812550737318266,0.477232752748036,0.43485023546738255],"tcp_quaternion_wxyz":[-8.324592713572667e-06,0.7071072844387375,0.7071062775524938,2.168479916121641e-05],"object_position_m":[0.0812355079024361,0.4777356024724831,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9918183079653133e-11,8.73460945212129e-13,1.0484555703631099e-06],"object_linear_velocity_m_s":[-1.5622977207256837e-12,-3.5627607450712194e-11,1.2733671699970645e-14],"object_angular_velocity_rad_s":[-5.049346331937169e-10,2.213851604833865e-11,1.8803827743666352e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514816417481,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904566055454,-1.61097294696392,1.3254618907493978,-1.309751338725136,-1.5707948201210296,-0.44910824277646755,0.0],"actuator_force":[0.000836508518204937,-18.98153353251564,-20.2741224437068,-2.4146585459196785,0.000613808195225829,-6.2228475030678965e-06,-0.2933478265384644],"issued_joint_targets_rad":[-2.0199045379067404,-1.6014804463042915,1.335605615213138,-1.3049240763879737,-1.5707960698209107,-0.4491082140445903],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.319999999998611,"joint_targets_rad":[-2.0199045379067404,-1.6014804463042915,1.335605615213138,-1.3049240763879737,-1.5707960698209107,-0.4491082140445903],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.3399999999986,"qpos":[-2.019907006923734,-1.6015988296863362,1.3360869318963782,-1.3053272473209339,-1.570795030932884,-0.44910935368214394,0.002933367290284936,0.00015629483889231078,0.0031932495127344985,-0.003429050843223611,0.0029333699916260524,0.00015630431322391841,0.0031976727090288785,-0.0034377379766524067,0.0812355079024117,0.47773560247192665,0.2998922445797833,0.99999999999945,-1.8129547028889473e-11,7.950079171258543e-13,1.048455570468629e-06],"qvel":[1.044656736936953e-05,0.00058545987989774,-0.0024388266978088713,0.0020272495571130216,-5.215297185831567e-06,5.75603768190833e-06,1.2313273101527011e-06,3.1534701353750855e-08,1.1670517453740775e-06,-1.247690010587265e-06,1.219117851910837e-06,-1.3137469405418827e-08,9.263898192383795e-07,-1.2994888193339571e-06,-1.957408160388994e-12,-4.4638798628867736e-11,1.2735059478751425e-14,-1.285330030489794e-09,5.6361959718204614e-11,3.433127219851623e-14],"joint_position_rad":[-2.019907006923734,-1.6015988296863362,1.3360869318963782,-1.3053272473209339,-1.570795030932884,-0.44910935368214394],"joint_velocity_rad_s":[1.044656736936953e-05,0.00058545987989774,-0.0024388266978088713,0.0020272495571130216,-5.215297185831567e-06,5.75603768190833e-06],"linkage_position_rad":[0.002933367290284936,0.00015629483889231078,0.0031932495127344985,-0.003429050843223611,0.0029333699916260524,0.00015630431322391841,0.0031976727090288785,-0.0034377379766524067],"tcp_position_m":[0.0812551183138127,0.4772330145854589,0.43486475815499515],"tcp_quaternion_wxyz":[-7.67634814099737e-06,0.7071072499841085,0.7071063120642742,1.9996138124679473e-05],"object_position_m":[0.0812355079024117,0.47773560247192665,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8129547028889473e-11,7.950079171258543e-13,1.048455570468629e-06],"object_linear_velocity_m_s":[-1.957408160388994e-12,-4.4638798628867736e-11,1.2735059478751425e-14],"object_angular_velocity_rad_s":[-1.2853301486729885e-09,5.6359264495221195e-11,3.4331272198626664e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514662474673,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199045375785882,-1.610972824302246,1.325461516082685,-1.309750869504022,-1.5707948471393416,-0.44910821399123935,0.0],"actuator_force":[0.0007600633439324156,-18.982173183779196,-20.275300948263066,-2.414536047255524,0.0006134264898491892,-5.7583158934448875e-06,-0.2933491163213597],"issued_joint_targets_rad":[-2.0199045120397385,-1.6014801896970885,1.3356051893860956,-1.304923662881991,-1.5707960939728025,-0.44910818795539437],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.3399999999986,"joint_targets_rad":[-2.0199045120397385,-1.6014801896970885,1.3356051893860956,-1.304923662881991,-1.5707960939728025,-0.44910818795539437],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.359999999998589,"qpos":[-2.019906803615837,-1.6015876844014267,1.3360406177914377,-1.3052887275197098,-1.5707951322128626,-0.44910924206721314,0.0029333907602864056,0.00015629549063691503,0.003193271637325637,-0.00342907473763889,0.0029333931913923593,0.00015630401104278706,0.003197689793283825,-0.003437762883022003,0.08123550790238668,0.47773560247135605,0.2998922445797833,0.99999999999945,-1.719699654689553e-11,7.541031722988198e-13,1.0484555705988559e-06],"qvel":[9.732834175021165e-06,0.0005317184844889386,-0.0022062800553345014,0.0018356604793607575,-4.827828157928201e-06,5.324064377291556e-06,1.1138461224134089e-06,2.8503722393776266e-08,1.0556644764750993e-06,-1.128522087629757e-06,1.1027983894803704e-06,-1.1926995699547266e-08,8.377700925792864e-07,-1.1754489530176045e-06,-9.249966575274584e-13,-2.109457159346082e-11,1.2729508363628298e-14,6.756730345101174e-10,-2.9630142537234424e-11,3.719509464481146e-15],"joint_position_rad":[-2.019906803615837,-1.6015876844014267,1.3360406177914377,-1.3052887275197098,-1.5707951322128626,-0.44910924206721314],"joint_velocity_rad_s":[9.732834175021165e-06,0.0005317184844889386,-0.0022062800553345014,0.0018356604793607575,-4.827828157928201e-06,5.324064377291556e-06],"linkage_position_rad":[0.0029333907602864056,0.00015629549063691503,0.003193271637325637,-0.00342907473763889,0.0029333931913923593,0.00015630401104278706,0.003197689793283825,-0.003437762883022003],"tcp_position_m":[0.08125515731895017,0.4772332536783809,0.4348778718985504],"tcp_quaternion_wxyz":[-7.075660106805039e-06,0.707107217591639,0.707106344505574,1.8431207764400394e-05],"object_position_m":[0.08123550790238668,0.47773560247135605,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.719699654689553e-11,7.541031722988198e-13,1.0484555705988559e-06],"object_linear_velocity_m_s":[-9.249966575274584e-13,-2.109457159346082e-11,1.2729508363628298e-14],"object_angular_velocity_rad_s":[6.756730966404075e-10,-2.962872571085526e-11,3.719509464501291e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351452320474,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904511771801,-1.6109727156713356,1.3254611789011392,-1.3097504449728565,-1.5707948716280793,-0.44910818790620083,0.0],"actuator_force":[0.0006905544028086297,-18.982749933613377,-20.27636575846327,-2.4144247745094845,0.0006130752074113843,-5.325931596189548e-06,-0.2933502808064977],"issued_joint_targets_rad":[-2.0199044886045177,-1.60147995864723,1.3356048055966547,-1.3049232889687417,-1.5707961158567192,-0.4491081643138138],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.359999999998589,"joint_targets_rad":[-2.0199044886045177,-1.60147995864723,1.3356048055966547,-1.3049232889687417,-1.5707961158567192,-0.4491081643138138],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.379999999998578,"qpos":[-2.0199066143256514,-1.6015775624624269,1.335998719921853,-1.3052538481789586,-1.570795225923729,-0.4491091388733111,0.002933411988670242,0.0001562960796568091,0.003193291649258117,-0.0034290963466849923,0.0029334141753512926,0.00015630373698041688,0.003197705242539381,-0.003437785409482668,0.08123550790236,0.4777356024707473,0.2998922445797833,0.99999999999945,-1.8224608826709407e-11,7.991337972445522e-13,1.048455570786632e-06],"qvel":[9.061303600812408e-06,0.00048289040206302283,-0.0019959035734119523,0.0016621737478165555,-4.467020415445939e-06,4.922261915543586e-06,1.007395583685311e-06,2.5763671225298637e-08,9.547395689569205e-07,-1.0205623826233823e-06,9.973995553689103e-07,-1.0826808826902533e-08,7.57463119690744e-07,-1.0630782857305563e-06,-1.0008514299706385e-12,-2.2825325529393646e-11,1.272256946972439e-14,5.571502901483376e-10,-2.4432354998772017e-11,6.790917480127774e-15],"joint_position_rad":[-2.0199066143256514,-1.6015775624624269,1.335998719921853,-1.3052538481789586,-1.570795225923729,-0.4491091388733111],"joint_velocity_rad_s":[9.061303600812408e-06,0.00048289040206302283,-0.0019959035734119523,0.0016621737478165555,-4.467020415445939e-06,4.922261915543586e-06],"linkage_position_rad":[0.002933411988670242,0.0001562960796568091,0.003193291649258117,-0.0034290963466849923,0.0029334141753512926,0.00015630373698041688,0.003197705242539381,-0.003437785409482668],"tcp_position_m":[0.08125519138456912,0.47723347196293175,0.4348897134564677],"tcp_quaternion_wxyz":[-6.519391410459806e-06,0.7071071871741017,0.7071063749647872,1.6981880598550387e-05],"object_position_m":[0.08123550790236,0.4777356024707473,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8224608826709407e-11,7.991337972445522e-13,1.048455570786632e-06],"object_linear_velocity_m_s":[-1.0008514299706385e-12,-2.2825325529393646e-11,1.272256946972439e-14],"object_angular_velocity_rad_s":[5.571503413795898e-10,-2.4431186704067092e-11,6.790917480171408e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514397243666,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904488385742,-1.6109726193696154,1.325460875282414,-1.3097500608348596,-1.5707948938236778,-0.4491081642684738,0.0],"actuator_force":[0.0006273583780966874,-18.983269975202347,-20.277327849513313,-2.41432370273219,0.0006127520672407627,-4.923772905840451e-06,-0.293351332176772],"issued_joint_targets_rad":[-2.019904467372806,-1.6014797505041858,1.3356044595534555,-1.3049229508226166,-1.5707961356853144,-0.4491081428905635],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.379999999998578,"joint_targets_rad":[-2.019904467372806,-1.6014797505041858,1.3356044595534555,-1.3049229508226166,-1.5707961356853144,-0.4491081428905635],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.399999999998567,"qpos":[-2.01990643820777,-1.6015683702716732,1.3359608172368334,-1.3052222653178729,-1.5707953125916456,-0.44910904350695696,0.0029334311863623034,0.00015629661199393635,0.003193309747152111,-0.0034291158859443296,0.0029334331519638925,0.0001563034884308691,0.00319771921016713,-0.00343780578044092,0.08123550790233404,0.4777356024701546,0.2998922445797833,0.99999999999945,-1.8939980743374792e-11,8.304868433955452e-13,1.0484555709978793e-06],"qvel":[8.430300050359762e-06,0.00043852899499489874,-0.0018055846215863194,0.0015050795215034267,-4.131293857927428e-06,4.5487907595503465e-06,9.109732705454217e-07,2.3286684917656365e-08,8.633257099830421e-07,-9.227888804273881e-07,9.019292491259821e-07,-9.827097764580421e-09,6.847198003902187e-07,-9.613108446854019e-07,-1.0980169009615133e-12,-2.5041765011840983e-11,1.2721181690943607e-14,3.525280422962163e-10,-1.545885587406089e-11,1.2398555042328515e-14],"joint_position_rad":[-2.01990643820777,-1.6015683702716732,1.3359608172368334,-1.3052222653178729,-1.5707953125916456,-0.44910904350695696],"joint_velocity_rad_s":[8.430300050359762e-06,0.00043852899499489874,-0.0018055846215863194,0.0015050795215034267,-4.131293857927428e-06,4.5487907595503465e-06],"linkage_position_rad":[0.0029334311863623034,0.00015629661199393635,0.003193309747152111,-0.0034291158859443296,0.0029334331519638925,0.0001563034884308691,0.00319771921016713,-0.00343780578044092],"tcp_position_m":[0.0812552210795632,0.4772336712152494,0.43490040630600013],"tcp_quaternion_wxyz":[-6.004566867049347e-06,0.7071071586429649,0.7071064035314589,1.564044244918604e-05],"object_position_m":[0.08123550790233404,0.4777356024701546,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8939980743374792e-11,8.304868433955452e-13,1.0484555709978793e-06],"object_linear_velocity_m_s":[-1.0980169009615133e-12,-2.5041765011840983e-11,1.2721181690943607e-14],"object_angular_velocity_rad_s":[3.5252807471128815e-10,-1.5458116654046665e-11,1.2398555042355541e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514283347823,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904467194169,-1.6109725339180752,1.3254606017443458,-1.3097497132137084,-1.5707949139405386,-0.44910814284879275,0.0],"actuator_force":[0.0005699071812159673,-18.98373889080176,-20.278197136341078,-2.4142319000681027,0.0006124549393007328,-4.549993860791801e-06,-0.2933522814289082],"issued_joint_targets_rad":[-2.0199044481376993,-1.6014795629106615,1.3356041474280467,-1.3049226449938658,-1.5707961536513562,-0.4491081234777769],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.399999999998567,"joint_targets_rad":[-2.0199044481376993,-1.6014795629106615,1.3356041474280467,-1.3049226449938658,-1.5707961536513562,-0.4491081234777769],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.419999999998556,"qpos":[-2.0199062744528358,-1.6015600227454947,1.3359265288128197,-1.3051936674477895,-1.5707953927109002,-0.44910895541153345,0.0029334485450330967,0.00015629709310726318,0.0031933261115366612,-0.0034291335512148524,0.002933450310671153,0.00015630326302787254,0.003197731835730389,-0.00343782419970227,0.08123550790230734,0.4777356024695454,0.2998922445797833,0.99999999999945,-2.023964236939653e-11,8.874713852691103e-13,1.048455571261877e-06],"qvel":[7.838097093874194e-06,0.0003982278649113199,-0.0016334116706274175,0.0013628293772075261,-3.819129228401158e-06,4.201889391303103e-06,8.236615984203586e-07,2.1047583909073012e-08,7.805523729289612e-07,-8.342669227547214e-07,8.154792594952398e-07,-8.91882705333226e-09,6.188529969036951e-07,-8.691718081601643e-07,-1.2699981888967494e-12,-2.8964146218391704e-11,1.2730896142409078e-14,6.431815982784147e-11,-2.820222006437182e-12,2.2636721715266442e-14],"joint_position_rad":[-2.0199062744528358,-1.6015600227454947,1.3359265288128197,-1.3051936674477895,-1.5707953927109002,-0.44910895541153345],"joint_velocity_rad_s":[7.838097093874194e-06,0.0003982278649113199,-0.0016334116706274175,0.0013628293772075261,-3.819129228401158e-06,4.201889391303103e-06],"linkage_position_rad":[0.0029334485450330967,0.00015629709310726318,0.0031933261115366612,-0.0034291335512148524,0.002933450310671153,0.00015630326302787254,0.003197731835730389,-0.00343782419970227],"tcp_position_m":[0.08125524691134811,0.47723385306407856,0.4349100619337255],"tcp_quaternion_wxyz":[-5.528371334535268e-06,0.7071071319093356,0.7071064302953567,1.4399588722716318e-05],"object_position_m":[0.08123550790230734,0.4777356024695454,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.023964236939653e-11,8.874713852691103e-13,1.048455571261877e-06],"object_linear_velocity_m_s":[-1.2699981888967494e-12,-2.8964146218391704e-11,1.2730896142409078e-14],"object_angular_velocity_rad_s":[6.431816574145501e-11,-2.8200871369640535e-12,2.2636721715263208e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514180384456,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904447991834,-1.6109724580286098,1.3254603551906254,-1.3097493986110833,-1.5707949321730719,-0.44910812343930995,0.0],"actuator_force":[0.0005176831655262504,-18.98416171219469,-20.278982576137423,-2.4141485193677,0.0006121818370274923,-4.202827398103182e-06,-0.293353138489502],"issued_joint_targets_rad":[-2.0199044307116742,-1.6014793937670835,1.3356038658007472,-1.3049223683705704,-1.5707961699295783,-0.44910810588701794],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.419999999998556,"joint_targets_rad":[-2.0199044307116742,-1.6014793937670835,1.3356038658007472,-1.3049223683705704,-1.5707961699295783,-0.44910810588701794],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.439999999998545,"qpos":[-2.019906122288091,-1.6015524425462613,1.3358955100328835,-1.3051677725044686,-1.57079546674524,-0.4491088740656248,0.0029334642387442785,0.00015629752792952842,0.0031933409063867684,-0.003429149520234345,0.0029334658235180486,0.00015630305862316256,0.00319774324611768,-0.00343784085225919,0.08123550790228105,0.4777356024689459,0.2998922445797833,0.99999999999945,-2.0411698305159693e-11,8.950090650378359e-13,1.0484555715423724e-06],"qvel":[7.28294075851005e-06,0.00036161728289994664,-0.001477655192236659,0.001234021084136404,-3.529070670124972e-06,3.879875953075488e-06,7.446218088932904e-07,1.9023568699511376e-08,7.056236917666329e-07,-7.541430519741569e-07,7.372193327794104e-07,-8.093825121335213e-09,5.592327832513637e-07,-7.857719701023704e-07,-1.515973463571315e-12,-3.45744454136052e-11,1.2735059478751422e-14,-4.017787389308281e-10,1.7616349530789658e-11,4.132897567584321e-14],"joint_position_rad":[-2.019906122288091,-1.6015524425462613,1.3358955100328835,-1.3051677725044686,-1.57079546674524,-0.4491088740656248],"joint_velocity_rad_s":[7.28294075851005e-06,0.00036161728289994664,-0.001477655192236659,0.001234021084136404,-3.529070670124972e-06,3.879875953075488e-06],"linkage_position_rad":[0.0029334642387442785,0.00015629752792952842,0.0031933409063867684,-0.003429149520234345,0.0029334658235180486,0.00015630305862316256,0.00319774324611768,-0.00343784085225919],"tcp_position_m":[0.08125526933215907,0.47723401900245743,0.43491878100057024],"tcp_quaternion_wxyz":[-5.088146598004151e-06,0.7071071068847526,0.7071064553456988,1.3252417514634603e-05],"object_position_m":[0.08123550790228105,0.4777356024689459,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0411698305159693e-11,8.950090650378359e-13,1.0484555715423724e-06],"object_linear_velocity_m_s":[-1.515973463571315e-12,-3.45744454136052e-11,1.2735059478751422e-14],"object_angular_velocity_rad_s":[-4.017787758698641e-10,1.7615507036437885e-11,4.132897567589241e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514087322931,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199044305925673,-1.6109723905772437,1.325460132863956,-1.3097491138687323,-1.5707949486975528,-0.44910810585160715,0.0],"actuator_force":[0.0004702147439274995,-18.984542975124896,-20.279692260960474,-2.4140727905455606,0.0006119309106225046,-3.880586490367932e-06,-0.2933539123188247],"issued_joint_targets_rad":[-2.0199044149247793,-1.601479241200864,1.3356036116135033,-1.3049221181446577,-1.5707961846783585,-0.44910808994747287],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.439999999998545,"joint_targets_rad":[-2.0199044149247793,-1.601479241200864,1.3356036116135033,-1.3049221181446577,-1.5707961846783585,-0.44910808994747287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.459999999998534,"qpos":[-2.019905980977522,-1.6015455593827064,1.3358674491291713,-1.305144325069785,-1.5707955351292293,-0.44910879898134004,0.0029334784254759294,0.0001562979209181356,0.003193354280554205,-0.003429163954258485,0.002933479846660516,0.00015630287326675295,0.0031977535566044073,-0.0034378559059439397,0.08123550790225575,0.4777356024683687,0.2998922445797833,0.99999999999945,-1.918197104672503e-11,8.410825924263249e-13,1.0484555718186144e-06],"qvel":[6.763069072142335e-06,0.0003283609272691561,-0.0013367503648125262,0.0011173848124373055,-3.259727267800175e-06,3.5811489141290706e-06,6.730882567931999e-07,1.7194042119624394e-08,6.378134082502061e-07,-6.816375655739996e-07,6.663915386335003e-07,-7.344560291335705e-09,5.052835192099626e-07,-7.10299595793728e-07,-1.8920351314455397e-12,-4.315112677864324e-11,1.2729508363628295e-14,-1.1211404699537517e-09,4.9160408725245353e-11,7.545628092922809e-14],"joint_position_rad":[-2.019905980977522,-1.6015455593827064,1.3358674491291713,-1.305144325069785,-1.5707955351292293,-0.44910879898134004],"joint_velocity_rad_s":[6.763069072142335e-06,0.0003283609272691561,-0.0013367503648125262,0.0011173848124373055,-3.259727267800175e-06,3.5811489141290706e-06],"linkage_position_rad":[0.0029334784254759294,0.0001562979209181356,0.003193354280554205,-0.003429163954258485,0.002933479846660516,0.00015630287326675295,0.0031977535566044073,-0.0034378559059439397],"tcp_position_m":[0.0812552887447368,0.47723417039856025,0.43492665439356537],"tcp_quaternion_wxyz":[-4.68138736072308e-06,0.707107083481837,0.7071064787705165,1.2192420190838627e-05],"object_position_m":[0.08123550790225575,0.4777356024683687,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.918197104672503e-11,8.410825924263249e-13,1.0484555718186144e-06],"object_linear_velocity_m_s":[-1.8920351314455397e-12,-4.315112677864324e-11,1.2729508363628295e-14],"object_angular_velocity_rad_s":[-1.1211405730362946e-09,4.9158057793195106e-11,7.54562809292296e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313514003226273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199044148275203,-1.6109723305814179,1.3254599323055236,-1.3097488561345323,-1.570794963673803,-0.4491080899148874,0.0],"actuator_force":[0.00042707237480499316,-18.984886768330853,-20.280333501370478,-2.4140040136173866,0.0006117004398902282,-3.5816650836295594e-06,-0.2933546110057994],"issued_joint_targets_rad":[-2.019904400622996,-1.60147910353974,1.3356033821287467,-1.3049218917814793,-1.570796198041244,-0.44910807550430776],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.459999999998534,"joint_targets_rad":[-2.019904400622996,-1.60147910353974,1.3356033821287467,-1.3049218917814793,-1.570796198041244,-0.44910807550430776],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.479999999998522,"qpos":[-2.0199058498216758,-1.6015393093726236,1.3358420640540265,-1.305123093855556,-1.5707955982696316,-0.4491087297026387,0.0029334912485385767,0.0001562982761005824,0.003193366369088691,-0.0034291769995113733,0.0029334925217591344,0.00015630270518887668,0.003197762871844171,-0.003437869512948534,0.08123550790223093,0.47773560246780195,0.2998922445797833,0.99999999999945,-1.7432828765193034e-11,7.64386269619772e-13,1.0484555721048383e-06],"qvel":[6.276728308454559e-06,0.0002981529039323675,-0.0012092814159616262,0.0010117706409881592,-3.0097737240349625e-06,3.3041869073798245e-06,6.083627702461396e-07,1.554033154252245e-08,5.764590901940108e-07,-6.160407858349482e-07,6.023047077667739e-07,-6.664164034673307e-09,4.5647940269595305e-07,-6.420146746274689e-07,-9.344345666716906e-13,-2.1311475688142415e-11,1.2729508363628295e-14,7.124178711287658e-10,-3.1238635236575336e-11,8.175062471145996e-15],"joint_position_rad":[-2.0199058498216758,-1.6015393093726236,1.3358420640540265,-1.305123093855556,-1.5707955982696316,-0.4491087297026387],"joint_velocity_rad_s":[6.276728308454559e-06,0.0002981529039323675,-0.0012092814159616262,0.0010117706409881592,-3.0097737240349625e-06,3.3041869073798245e-06],"linkage_position_rad":[0.0029334912485385767,0.0001562982761005824,0.003193366369088691,-0.0034291769995113733,0.0029334925217591344,0.00015630270518887668,0.003197762871844171,-0.003437869512948534],"tcp_position_m":[0.08125530550746254,0.47723430850573206,0.4349337641753673],"tcp_quaternion_wxyz":[-4.305736534256729e-06,0.7071070616148278,0.7071065006561332,1.121347000495914e-05],"object_position_m":[0.08123550790223093,0.47773560246780195,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7432828765193034e-11,7.64386269619772e-13,1.0484555721048383e-06],"object_linear_velocity_m_s":[-9.344345666716906e-13,-2.1311475688142415e-11,1.2729508363628295e-14],"object_angular_velocity_rad_s":[7.124179366318415e-10,-3.123714135953305e-11,8.175062471150578e-15],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513927243319,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199044005435756,-1.6109722771806883,1.325459751319848,-1.309748622832083,-1.5707949772467216,-0.4491080754743328,0.0],"actuator_force":[0.0003878648767567938,-18.985196777702185,-20.280912901971988,-2.413941552362189,0.0006114888273032193,-3.3045377847429336e-06,-0.29335524185227563],"issued_joint_targets_rad":[-2.0199043876667515,-1.6014789792885822,1.335603174893417,-1.3049216869925813,-1.5707962101483335,-0.44910806241717965],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.479999999998522,"joint_targets_rad":[-2.0199043876667515,-1.6014789792885822,1.335603174893417,-1.3049216869925813,-1.5707962101483335,-0.44910806241717965],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.499999999998511,"qpos":[-2.019905728157201,-1.6015336344625075,1.33581909964867,-1.305103869424811,-1.5707956565467838,-0.44910866580367376,0.0029335028378753955,0.00015629859711638878,0.003193377294458501,-0.003429188788536513,0.002933503977264661,0.00015630255278318414,0.003197771286787777,-0.0034378818112265493,0.08123550790220316,0.4777356024671687,0.2998922445797833,0.99999999999945,-1.8622435719097148e-11,8.165414075883444e-13,1.0484555725694319e-06],"qvel":[5.822186361083679e-06,0.00027071502627334704,-0.0010939674480652738,0.000916137242234093,-2.7779503446572033e-06,3.0475478813009262e-06,5.498093741967674e-07,1.4045582698923792e-08,5.20957368512366e-07,-5.567060101089938e-07,5.443292086935788e-07,-6.04639296073814e-09,4.1234085242406103e-07,-5.802445476528843e-07,-1.0140780413595502e-12,-2.312805710257937e-11,1.2733671699970638e-14,6.120295983403506e-10,-2.683696302898881e-11,1.4925661460160963e-14],"joint_position_rad":[-2.019905728157201,-1.6015336344625075,1.33581909964867,-1.305103869424811,-1.5707956565467838,-0.44910866580367376],"joint_velocity_rad_s":[5.822186361083679e-06,0.00027071502627334704,-0.0010939674480652738,0.000916137242234093,-2.7779503446572033e-06,3.0475478813009262e-06],"linkage_position_rad":[0.0029335028378753955,0.00015629859711638878,0.003193377294458501,-0.003429188788536513,0.002933503977264661,0.00015630255278318414,0.003197771286787777,-0.0034378818112265493],"tcp_position_m":[0.08125531993898608,0.47723443447177455,0.4349401844414752],"tcp_quaternion_wxyz":[-3.958980009839544e-06,0.7071070412000101,0.7071065210867461,1.030980921570068e-05],"object_position_m":[0.08123550790220316,0.4777356024671687,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8622435719097148e-11,8.165414075883444e-13,1.0484555725694319e-06],"object_linear_velocity_m_s":[-1.0140780413595502e-12,-2.312805710257937e-11,1.2733671699970638e-14],"object_angular_velocity_rad_s":[6.120296546137315e-10,-2.6835679657243317e-11,1.4925661460181224e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513858601401,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904387601897,-1.6109722296202857,1.3254595879442341,-1.309748411633461,-1.5707949895476716,-0.44910806238961537,0.0],"actuator_force":[0.0003522360630086041,-18.985476326065964,-20.281436429645964,-2.4138848285484755,0.000611294590498801,-3.0477589234578772e-06,-0.2933558114499173],"issued_joint_targets_rad":[-2.0199043759295665,-1.6014788671091793,1.335602987707412,-1.3049215017112878,-1.5707962211175364,-0.44910805055888653],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.499999999998511,"joint_targets_rad":[-2.0199043759295665,-1.6014788671091793,1.335602987707412,-1.3049215017112878,-1.5707962211175364,-0.44910805055888653],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.5199999999985,"qpos":[-2.0199056153561634,-1.6015284818991637,1.3357983250812184,-1.3050864621281202,-1.5707957103159589,-0.44910860688716336,0.002933513311260295,0.00015629888725450538,0.003193387167675235,-0.003429199441432497,0.002933514329601105,0.00015630241459193932,0.003197778887535308,-0.0034378929257757834,0.08123550790217603,0.4777356024665501,0.2998922445797833,0.99999999999945,-1.9493386984150582e-11,8.547169076482296e-13,1.0484555730944572e-06],"qvel":[5.397743639833873e-06,0.0002457943329462637,-0.0009896496074601091,0.0008295416335575228,-2.5630624807436563e-06,2.8098676925766284e-06,4.96849260042303e-07,1.2694558688213072e-08,4.707594228034028e-07,-5.030445038311998e-07,4.918919811044393e-07,-5.48559382990354e-09,3.724305336087839e-07,-5.243776272904371e-07,-1.1099232350797693e-12,-2.531443397175437e-11,1.2735059478751419e-14,4.2720018403854593e-10,-1.873259808155896e-11,2.725035591897728e-14],"joint_position_rad":[-2.0199056153561634,-1.6015284818991637,1.3357983250812184,-1.3050864621281202,-1.5707957103159589,-0.44910860688716336],"joint_velocity_rad_s":[5.397743639833873e-06,0.0002457943329462637,-0.0009896496074601091,0.0008295416335575228,-2.5630624807436563e-06,2.8098676925766284e-06],"linkage_position_rad":[0.002933513311260295,0.00015629888725450538,0.003193387167675235,-0.003429199441432497,0.002933514329601105,0.00015630241459193932,0.003197778887535308,-0.0034378929257757834],"tcp_position_m":[0.08125533232239737,0.4772345493475293,0.4349459820941346],"tcp_quaternion_wxyz":[-3.639041053309297e-06,0.707107022156056,0.7071065401440977,9.476035117293836e-06],"object_position_m":[0.08123550790217603,0.4777356024665501,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9493386984150582e-11,8.547169076482296e-13,1.0484555730944572e-06],"object_linear_velocity_m_s":[-1.1099232350797693e-12,-2.531443397175437e-11,1.2735059478751419e-14],"object_angular_velocity_rad_s":[4.2720022331820016e-10,-1.8731702280689136e-11,2.725035591901289e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513796599548,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043758766058,-1.610972187237084,1.3254594404221403,-1.309748220434767,-1.5707950006957432,-0.4491080505335473,0.0],"actuator_force":[0.00031986165913622244,-18.985728409018975,-20.281909475172597,-2.413833316679188,0.000611116355798913,-2.809961216598822e-06,-0.2933563257492757],"issued_joint_targets_rad":[-2.0199043652968336,-1.6014787658025633,1.3356028185958693,-1.3049213340707881,-1.5707962310557062,-0.4491080398141397],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.5199999999985,"joint_targets_rad":[-2.0199043652968336,-1.6014787658025633,1.3356028185958693,-1.3049213340707881,-1.5707962310557062,-0.4491080398141397],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.53999999999849,"qpos":[-2.019905510825189,-1.6015238037487252,1.335779531528509,-1.305070700234707,-1.5707957599087117,-0.4491085525828005,0.00293352277539779,0.00015629914948670856,0.0031933960893265946,-0.0034292090669750643,0.0029335236842520335,0.0001563022892927854,0.0031977857521232576,-0.0034379029698234378,0.08123550790214965,0.4777356024659491,0.2998922445797833,0.99999999999945,-1.9883191091894086e-11,8.71792682918917e-13,1.0484555736746898e-06],"qvel":[5.001741791956191e-06,0.0002231608237195757,-0.0008952794707351713,0.0007511298948287157,-2.3639794134168333e-06,2.589858273775746e-06,4.489560903359443e-07,1.1473420980907866e-08,4.2536569602506297e-07,-4.5452232438186673e-07,4.444719066095122e-07,-4.976511453805312e-09,3.3635117090149915e-07,-4.73856213568498e-07,-1.2422192302263962e-12,-2.8332303866129322e-11,1.2732283921189855e-14,1.2568456093981422e-10,-5.511792794816202e-12,4.975242983481071e-14],"joint_position_rad":[-2.019905510825189,-1.6015238037487252,1.335779531528509,-1.305070700234707,-1.5707957599087117,-0.4491085525828005],"joint_velocity_rad_s":[5.001741791956191e-06,0.0002231608237195757,-0.0008952794707351713,0.0007511298948287157,-2.3639794134168333e-06,2.589858273775746e-06],"linkage_position_rad":[0.00293352277539779,0.00015629914948670856,0.0031933960893265946,-0.0034292090669750643,0.0029335236842520335,0.0001563022892927854,0.0031977857521232576,-0.0034379029698234378],"tcp_position_m":[0.08125534290898365,0.47723465409479937,0.4349512175410196],"tcp_quaternion_wxyz":[-3.343974441538742e-06,0.7071070044042878,0.7071065579072213,8.707085297462378e-06],"object_position_m":[0.08123550790214965,0.4777356024659491,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9883191091894086e-11,8.71792682918917e-13,1.0484555736746898e-06],"object_linear_velocity_m_s":[-1.2422192302263962e-12,-2.8332303866129322e-11,1.2732283921189855e-14],"object_angular_velocity_rad_s":[1.2568457249727764e-10,-5.511529245445218e-12,4.9752429834847716e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513740602164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043652535846,-1.6109721494475897,1.325459307179912,-1.30974804733416,-1.570795010798892,-0.4491080397908532,0.0],"actuator_force":[0.00029044649136267253,-18.98595572721706,-20.282336908900106,-2.413786539209241,0.0006109528511615281,-2.58985369328002e-06,-0.2933567901224759],"issued_joint_targets_rad":[-2.019904355664702,-1.6014786742935285,1.3356026657847582,-1.3049211823844733,-1.5707962400596787,-0.4491080300784508],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.53999999999849,"joint_targets_rad":[-2.019904355664702,-1.6014786742935285,1.3356026657847582,-1.3049211823844733,-1.5707962400596787,-0.4491080300784508],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.559999999998478,"qpos":[-2.019905414004455,-1.6015195564589009,1.3357625300785751,-1.3050564282399801,-1.570795805634188,-0.44910850254570744,0.0029335313269309715,0.0001562993864988144,0.0031934041505218523,-0.003429217763665446,0.002933532136756146,0.00015630217568548405,0.0031977919512457135,-0.003437912045898333,0.08123550790212428,0.4777356024653703,0.2998922445797833,0.99999999999945,-1.9546951653575717e-11,8.570261628050932e-13,1.0484555742911788e-06],"qvel":[4.6325705942486535e-06,0.0002026053949244062,-0.0008099085332745114,0.0006801287611928793,-2.179632959990695e-06,2.386305448425338e-06,4.056515549945053e-07,1.0369697888583216e-08,3.8432262667500054e-07,-4.106533303847237e-07,4.015953961428196e-07,-4.514445677376477e-09,3.03740763473079e-07,-4.281759511641282e-07,-1.4457850262009142e-12,-3.297650411188622e-11,1.2730896142409073e-14,-3.378052926684342e-10,1.480805639769614e-11,9.083533963209096e-14],"joint_position_rad":[-2.019905414004455,-1.6015195564589009,1.3357625300785751,-1.3050564282399801,-1.570795805634188,-0.44910850254570744],"joint_velocity_rad_s":[4.6325705942486535e-06,0.0002026053949244062,-0.0008099085332745114,0.0006801287611928793,-2.179632959990695e-06,2.386305448425338e-06],"linkage_position_rad":[0.0029335313269309715,0.0001562993864988144,0.0031934041505218523,-0.003429217763665446,0.002933532136756146,0.00015630217568548405,0.0031977919512457135,-0.003437912045898333],"tcp_position_m":[0.08125535192160506,0.47723474959366197,0.4349559453260193],"tcp_quaternion_wxyz":[-3.071960450665045e-06,0.7071069878688724,0.7071065744522541,7.998222422531392e-06],"object_position_m":[0.08123550790212428,0.4777356024653703,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9546951653575717e-11,8.570261628050932e-13,1.0484555742911788e-06],"object_linear_velocity_m_s":[-1.4457850262009142e-12,-3.297650411188622e-11,1.2730896142409073e-14],"object_angular_velocity_rad_s":[-3.378053237188697e-10,1.480734804998288e-11,9.083533963221598e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513690033273,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904355629383,-1.6109721157376482,1.3254591868064074,-1.3097478906121274,-1.5707950199549816,-0.44910803005705713,0.0],"actuator_force":[0.0002637219054122397,-18.986160715464393,-20.282723131025705,-2.4137440621929045,0.000610802899132068,-2.3862197053858836e-06,-0.29335720941911153],"issued_joint_targets_rad":[-2.0199043469390747,-1.6014785916170358,1.3356025276793442,-1.30492104512826,-1.570796248217206,-0.4491080212571236],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.559999999998478,"joint_targets_rad":[-2.0199043469390747,-1.6014785916170358,1.3356025276793442,-1.30492104512826,-1.570796248217206,-0.4491080212571236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.579999999998467,"qpos":[-2.019905324366587,-1.6015157004606309,1.3357471498328282,-1.3050435053328433,-1.5707958477804003,-0.4491084564549416,0.002933539053363932,0.00015629960071788246,0.003193411433761148,-0.0034292256206671086,0.002933539773618654,0.00015630207268142678,0.0031977975489220324,-0.0034379202468201786,0.08123550790210023,0.47773560246482166,0.2998922445797833,0.99999999999945,-1.8135545384110386e-11,7.95124594276066e-13,1.0484555748983208e-06],"qvel":[4.288673217834061e-06,0.00018393795751880655,-0.0007326786960534449,0.0006158380087615053,-2.0090157249282003e-06,2.1980664770810365e-06,3.6650132575326544e-07,9.372165769428873e-09,3.4721835933092104e-07,-3.7099586200699453e-07,3.628323982699803e-07,-4.095069095256817e-09,2.742708762042636e-07,-3.8687748315520477e-07,-1.7803462332722775e-12,-4.060857661156268e-11,1.2725345027285946e-14,-1.0259015384964712e-09,4.497604400446041e-11,1.6584226898373868e-13],"joint_position_rad":[-2.019905324366587,-1.6015157004606309,1.3357471498328282,-1.3050435053328433,-1.5707958477804003,-0.4491084564549416],"joint_velocity_rad_s":[4.288673217834061e-06,0.00018393795751880655,-0.0007326786960534449,0.0006158380087615053,-2.0090157249282003e-06,2.1980664770810365e-06],"linkage_position_rad":[0.002933539053363932,0.00015629960071788246,0.003193411433761148,-0.0034292256206671086,0.002933539773618654,0.00015630207268142678,0.0031977975489220324,-0.0034379202468201786],"tcp_position_m":[0.08125535955773604,0.47723483664921035,0.4349602146987249],"tcp_quaternion_wxyz":[-2.8212987747695404e-06,0.7071069724769627,0.7071065898523037,7.345018770333162e-06],"object_position_m":[0.08123550790210023,0.47773560246482166,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8135545384110386e-11,7.95124594276066e-13,1.0484555748983208e-06],"object_linear_velocity_m_s":[-1.7803462332722775e-12,-4.060857661156268e-11,1.2725345027285946e-14],"object_angular_velocity_rad_s":[-1.025901632804983e-09,4.4973892779992846e-11,1.6584226898388656e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513644371098,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043469102316,-1.6109720856535936,1.325459078035112,-1.3097477487137326,-1.5707950282527214,-0.4491080212374746,0.0],"actuator_force":[0.00023944342319737189,-18.986345568933302,-20.28307211701076,-2.4137054913207976,0.0006106654118411825,-2.1979142559303e-06,-0.2933575880177494],"issued_joint_targets_rad":[-2.0199043390346945,-1.6014785169062504,1.3356024028451592,-1.3049209209247017,-1.5707962556078081,-0.44910801326433786],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.579999999998467,"joint_targets_rad":[-2.0199043390346945,-1.6014785169062504,1.3356024028451592,-1.3049209209247017,-1.5707962556078081,-0.44910801326433786],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.599999999998456,"qpos":[-2.0199052414154566,-1.6015121998056598,1.3357332361889724,-1.3050318040077122,-1.5707958866154625,-0.44910841401205626,0.002933546033904294,0.0001562997943370209,0.0031934180137261643,-0.0034292327186714144,0.00293354667314371,0.00015630197929288048,0.0031978026031040654,-0.0034379276565931487,0.08123550790207683,0.477735602464288,0.2998922445797833,0.99999999999945,-1.6371518793577478e-11,7.177698888117143e-13,1.0484555755273997e-06],"qvel":[3.9685501157307345e-06,0.00016698572210683326,-0.0006628136562658366,0.0005576235585255848,-1.851179145597263e-06,2.0240674140113274e-06,3.311111293250474e-07,8.47054780042552e-09,3.136788299230574e-07,-3.3515062001544613e-07,3.2779251692102336e-07,-3.714516615724534e-09,2.4764284593743964e-07,-3.4954485631961224e-07,-8.790183159872106e-13,-2.0049809742984403e-11,1.2723957248505164e-14,6.732948714428326e-10,-2.952014755630227e-11,1.796764277179044e-14],"joint_position_rad":[-2.0199052414154566,-1.6015121998056598,1.3357332361889724,-1.3050318040077122,-1.5707958866154625,-0.44910841401205626],"joint_velocity_rad_s":[3.9685501157307345e-06,0.00016698572210683326,-0.0006628136562658366,0.0005576235585255848,-1.851179145597263e-06,2.0240674140113274e-06],"linkage_position_rad":[0.002933546033904294,0.0001562997943370209,0.0031934180137261643,-0.0034292327186714144,0.00293354667314371,0.00015630197929288048,0.0031978026031040654,-0.0034379276565931487],"tcp_position_m":[0.08125536599218999,0.4772349159977633,0.4349640701285755],"tcp_quaternion_wxyz":[-2.590402444899049e-06,0.7071069581587859,0.7071066041773655,6.743340703388811e-06],"object_position_m":[0.08123550790207683,0.477735602464288,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6371518793577478e-11,7.177698888117143e-13,1.0484555755273997e-06],"object_linear_velocity_m_s":[-8.790183159872106e-13,-2.0049809742984403e-11,1.2723957248505164e-14],"object_angular_velocity_rad_s":[6.732949333424784e-10,-2.951873571671288e-11,1.7967642771805e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513603143164,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043390111395,-1.610972058794628,1.325458979728413,-1.3097476202326448,-1.5707950357725233,-0.4491080132462963,0.0],"actuator_force":[0.00021738858822573093,-18.986512266778846,-20.283387458612196,-2.4136704683188555,0.0006105393841835394,-2.023861441102781e-06,-0.2933579298706314],"issued_joint_targets_rad":[-2.0199043318743106,-1.601478449381991,1.3356022899911353,-1.30492080852869,-1.5707962623035425,-0.44910800602231876],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.599999999998456,"joint_targets_rad":[-2.0199043318743106,-1.601478449381991,1.3356022899911353,-1.30492080852869,-1.5707962623035425,-0.44910800602231876],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.619999999998445,"qpos":[-2.0199051646849395,-1.6015090218368309,1.335720649287464,-1.3050212088075896,-1.5707959223887782,-0.44910837493971967,0.002933552340232463,0.00015629996933846533,0.0031934239580046677,-0.0034292391306903237,0.002933552906194518,0.00015630189462387134,0.003197807166234689,-0.003437934351236332,0.08123550790204902,0.4777356024636531,0.2998922445797833,0.99999999999945,-1.8308875653037984e-11,8.027007230744234e-13,1.048455576675942e-06],"qvel":[3.670761813079513e-06,0.00015159163653862863,-0.0005996111163563481,0.0005049112308614487,-1.7052313539159479e-06,1.8633003262060807e-06,2.991233690046051e-07,7.655665084850146e-09,2.8336493387962293e-07,-3.0275396655478193e-07,2.961216638648817e-07,-3.369193998640876e-09,2.2358591301052714e-07,-3.158008168990185e-07,-9.870506179870704e-13,-2.251423877943497e-11,1.2726732806066728e-14,6.187418630460673e-10,-2.712799346028957e-11,3.2804505357668095e-14],"joint_position_rad":[-2.0199051646849395,-1.6015090218368309,1.335720649287464,-1.3050212088075896,-1.5707959223887782,-0.44910837493971967],"joint_velocity_rad_s":[3.670761813079513e-06,0.00015159163653862863,-0.0005996111163563481,0.0005049112308614487,-1.7052313539159479e-06,1.8633003262060807e-06],"linkage_position_rad":[0.002933552340232463,0.00015629996933846533,0.0031934239580046677,-0.0034292391306903237,0.002933552906194518,0.00015630189462387134,0.003197807166234689,-0.003437934351236332],"tcp_position_m":[0.0812553713795701,0.4772349883125846,0.43496755176905244],"tcp_quaternion_wxyz":[-2.377791809237842e-06,0.7071069448476945,0.7071066174942764,6.189333246578672e-06],"object_position_m":[0.08123550790204902,0.4777356024636531,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8308875653037984e-11,8.027007230744234e-13,1.048455576675942e-06],"object_linear_velocity_m_s":[-9.870506179870704e-13,-2.251423877943497e-11,1.2726732806066728e-14],"object_angular_velocity_rad_s":[6.187419199296987e-10,-2.712669601351504e-11,3.2804505357681304e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513565921859,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043318550736,-1.6109720348062393,1.3254588908637253,-1.3097475038967534,-1.5707950425872736,-0.44910800600575757,0.0],"actuator_force":[0.0001973550070033525,-18.9866625934319,-20.283672400935302,-2.4136386676680104,0.0006104238875650481,-1.8630515512541024e-06,-0.29335823854651344],"issued_joint_targets_rad":[-2.0199043253879334,-1.601478388343408,1.3356021879546538,-1.3049207068145892,-1.5707962683697025,-0.4491079994605866],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.619999999998445,"joint_targets_rad":[-2.0199043253879334,-1.601478388343408,1.3356021879546538,-1.3049207068145892,-1.5707962683697025,-0.4491079994605866],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.639999999998434,"qpos":[-2.0199050937376244,-1.6015061368881853,1.3357092626059743,-1.3050116151858275,-1.5707959553321846,-0.44910833898039315,0.0029335580372025537,0.00015630012751335743,0.0031934293277499494,-0.0034292449227716374,0.0029335585368860744,0.00015630181786172503,0.00319781128575849,-0.0034379403995184214,0.08123550790202133,0.4777356024630219,0.2998922445797833,0.99999999999945,-1.9676749737345613e-11,8.62654043859451e-13,1.0484555779790484e-06],"qvel":[3.3939306007195556e-06,0.00013761296282840908,-0.000542435733845836,0.0004571810893144837,-1.570334921846185e-06,1.714820407422692e-06,2.702137804535767e-07,6.91915400914456e-09,2.5596908775415944e-07,-2.7347732219572894e-07,2.6749875429900376e-07,-3.05583976033313e-09,2.0185460168831704e-07,-2.8530263191000154e-07,-1.1010478081231509e-12,-2.5114974942349816e-11,1.2730896142409072e-14,4.745273150989916e-10,-2.0805188051204756e-11,5.989277645287005e-14],"joint_position_rad":[-2.0199050937376244,-1.6015061368881853,1.3357092626059743,-1.3050116151858275,-1.5707959553321846,-0.44910833898039315],"joint_velocity_rad_s":[3.3939306007195556e-06,0.00013761296282840908,-0.000542435733845836,0.0004571810893144837,-1.570334921846185e-06,1.714820407422692e-06],"linkage_position_rad":[0.0029335580372025537,0.00015630012751335743,0.0031934293277499494,-0.0034292449227716374,0.0029335585368860744,0.00015630181786172503,0.00319781128575849,-0.0034379403995184214],"tcp_position_m":[0.08125537585646515,0.4772350542091478,0.4349706958767702],"tcp_quaternion_wxyz":[-2.1820886159309563e-06,0.7071069324801794,0.7071066298667074,5.679404889498246e-06],"object_position_m":[0.08123550790202133,0.4777356024630219,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9676749737345613e-11,8.62654043859451e-13,1.0484555779790484e-06],"object_linear_velocity_m_s":[-1.1010478081231509e-12,-2.5114974942349816e-11,1.2730896142409072e-14],"object_angular_velocity_rad_s":[4.74527358724579e-10,-2.0804193009535808e-11,5.989277645290153e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513532320204,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904325372223,-1.6109720133745107,1.3254588105212464,-1.3097473985552115,-1.5707950487630367,-0.44910799944538826,0.0],"actuator_force":[0.00017915856278705178,-18.986798157781777,-20.283929875917693,-2.4136097936233227,0.0006103180661511942,-1.7145382855687785e-06,-0.29335851726710516],"issued_joint_targets_rad":[-2.0199043195121513,-1.601478333159735,1.3356020956882606,-1.3049206147646435,-1.5707962738654544,-0.4491079935152708],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.639999999998434,"joint_targets_rad":[-2.0199043195121513,-1.601478333159735,1.3356020956882606,-1.3049206147646435,-1.5707962738654544,-0.4491079935152708],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.659999999998423,"qpos":[-2.019905028163513,-1.6015035180122041,1.3356989616877721,-1.3050029284753815,-1.5707959856610445,-0.44910830589507106,0.0029335631834808704,0.00015630027048051394,0.0031934341782827226,-0.0034292501546503433,0.002933563623216156,0.00015630174826932345,0.003197815004585364,-0.003437945863644411,0.08123550790199412,0.4777356024624009,0.2998922445797833,0.99999999999945,-2.041925676938103e-11,8.952066978833725e-13,1.048455579428934e-06],"qvel":[3.1367415125919886e-06,0.00012491998125786617,-0.0004907127418251467,0.0004139623181442832,-1.4457045518279252e-06,1.5777430794239525e-06,2.4408847852633213e-07,6.253531358471067e-09,2.312127165805482e-07,-2.4702203575165716e-07,2.4163277659042504e-07,-2.771554551204289e-09,1.8222618857329813e-07,-2.5774039844679224e-07,-1.2380331285892079e-12,-2.8239598432954037e-11,1.273089614240907e-14,2.0880541650822382e-10,-9.15439069220534e-12,1.0934901533435149e-13],"joint_position_rad":[-2.019905028163513,-1.6015035180122041,1.3356989616877721,-1.3050029284753815,-1.5707959856610445,-0.44910830589507106],"joint_velocity_rad_s":[3.1367415125919886e-06,0.00012491998125786617,-0.0004907127418251467,0.0004139623181442832,-1.4457045518279252e-06,1.5777430794239525e-06],"linkage_position_rad":[0.0029335631834808704,0.00015630027048051394,0.0031934341782827226,-0.0034292501546503433,0.002933563623216156,0.00015630174826932345,0.003197815004585364,-0.003437945863644411],"tcp_position_m":[0.08125537954342157,0.47723511424997445,0.4349735351898489],"tcp_quaternion_wxyz":[-2.0020102351947875e-06,0.7071069209958588,0.7071066413551784,5.21021271398085e-06],"object_position_m":[0.08123550790199412,0.4777356024624009,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.041925676938103e-11,8.952066978833725e-13,1.048455579428934e-06],"object_linear_velocity_m_s":[-1.2380331285892079e-12,-2.8239598432954037e-11,1.273089614240907e-14],"object_angular_velocity_rad_s":[2.088054357037088e-10,-9.153952845772837e-12,1.0934901533434614e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513501988172,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043194993203,-1.6109719942211858,1.3254587378731222,-1.3097473031667555,-1.5707950543596947,-0.4491079935013267,0.0],"actuator_force":[0.00016263178031294956,-18.98692041046661,-20.284162532570008,-2.4135835775015266,0.0006102211301595162,-1.5774357677855733e-06,-0.2933587689411269],"issued_joint_targets_rad":[-2.019904314189512,-1.601478283262969,1.3356020122478343,-1.3049205314585361,-1.5707962788444068,-0.4491079881284913],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.659999999998423,"joint_targets_rad":[-2.019904314189512,-1.601478283262969,1.3356020122478343,-1.3049205314585361,-1.5707962788444068,-0.4491079881284913],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.679999999998412,"qpos":[-2.0199049675787095,-1.6015011407317652,1.335689642991282,-1.3049950629554077,-1.570796013575291,-0.4491082754620813,0.0029335678321267098,0.00015630039970288101,0.0031934385596366598,-0.003429254880346749,0.0029335682176393793,0.00015630168517790814,0.0031978183615147594,-0.00343795079987248,0.08123550790196767,0.47773560246179725,0.2998922445797833,0.99999999999945,-2.0384006573946096e-11,8.936578598396319e-13,1.0484555809882912e-06],"qvel":[2.897942533648485e-06,0.0001133948105695611,-0.0004439221765266921,0.00037482858331778466,-1.3306046692026722e-06,1.4512410561636707e-06,2.2048118120890347e-07,5.651929209600076e-09,2.0884317793866078e-07,-2.2311839333124562e-07,2.1826005558511925e-07,-2.513634042022261e-09,1.6449885659052273e-07,-2.3283378006325775e-07,-1.4325314259110853e-12,-3.267639915834789e-11,1.272256946972438e-14,-2.1819668105962956e-10,9.565739807149692e-12,1.9964355623055896e-13],"joint_position_rad":[-2.0199049675787095,-1.6015011407317652,1.335689642991282,-1.3049950629554077,-1.570796013575291,-0.4491082754620813],"joint_velocity_rad_s":[2.897942533648485e-06,0.0001133948105695611,-0.0004439221765266921,0.00037482858331778466,-1.3306046692026722e-06,1.4512410561636707e-06],"linkage_position_rad":[0.0029335678321267098,0.00015630039970288101,0.0031934385596366598,-0.003429254880346749,0.0029335682176393793,0.00015630168517790814,0.0031978183615147594,-0.00343795079987248],"tcp_position_m":[0.08125538254670724,0.4772351689490854,0.43497609926953484],"tcp_quaternion_wxyz":[-1.8363640525733201e-06,0.7071069103374399,0.7071066520170994,4.778647935046731e-06],"object_position_m":[0.08123550790196767,0.47773560246179725,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0384006573946096e-11,8.936578598396319e-13,1.0484555809882912e-06],"object_linear_velocity_m_s":[-1.4325314259110853e-12,-3.267639915834789e-11,1.272256946972438e-14],"object_angular_velocity_rad_s":[-2.181967011176559e-10,9.565282268080775e-12,1.996435562305783e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135134746092,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904314179033,-1.6109719770993804,1.3254586721738315,-1.3097472167891708,-1.5707950594315214,-0.44910798811570096,0.0],"actuator_force":[0.00014762233968212968,-18.98703065945847,-20.28437276429031,-2.4135597752133435,0.0006101323517668789,-1.450915419809462e-06,-0.2933589961944884],"issued_joint_targets_rad":[-2.019904309367967,-1.6014782381413712,1.3356019367820542,-1.3049204560639744,-1.570796283355135,-0.4491079832478002],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.679999999998412,"joint_targets_rad":[-2.019904309367967,-1.6014782381413712,1.3356019367820542,-1.3049204560639744,-1.570796283355135,-0.4491079832478002],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.6999999999984,"qpos":[-2.0199049116241152,-1.601498982814595,1.335681212849285,-1.304987941006017,-1.570796039260417,-0.4491082474759471,0.002933572031120661,0.00015630051650255693,0.0031934425170570173,-0.0034292591487010173,0.0029335723675894382,0.00015630162798125526,0.0031978213916231705,-0.0034379552590754208,0.08123550790194235,0.47773560246122043,0.2998922445797833,0.99999999999945,-1.9285403927788717e-11,8.454868933250273e-13,1.0484555825619664e-06],"qvel":[2.6763442423993577e-06,0.00010293033399405701,-0.0004015936542509028,0.00033939383136109266,-1.224347063364089e-06,1.3345414140090514e-06,1.9915073749958173e-07,5.108192030325568e-09,1.8863185017416438e-07,-2.0152171772187097e-07,1.9714180014126513e-07,-2.279623918847464e-09,1.4849005002166178e-07,-2.1032763564650682e-07,-1.7412709578841141e-12,-3.9719501795709843e-11,1.2729508363628287e-14,-8.636418512794714e-10,3.786167613974122e-11,3.644967918515103e-13],"joint_position_rad":[-2.0199049116241152,-1.601498982814595,1.335681212849285,-1.304987941006017,-1.570796039260417,-0.4491082474759471],"joint_velocity_rad_s":[2.6763442423993577e-06,0.00010293033399405701,-0.0004015936542509028,0.00033939383136109266,-1.224347063364089e-06,1.3345414140090514e-06],"linkage_position_rad":[0.002933572031120661,0.00015630051650255693,0.0031934425170570173,-0.0034292591487010173,0.0029335723675894382,0.00015630162798125526,0.0031978213916231705,-0.0034379552590754208],"tcp_position_m":[0.08125538495989049,0.47723521877608976,0.434978414808632],"tcp_quaternion_wxyz":[-1.6840420527433245e-06,0.7071069004506624,0.7071066619068299,4.381821904605303e-06],"object_position_m":[0.08123550790194235,0.47773560246122043,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9285403927788717e-11,8.454868933250273e-13,1.0484555825619664e-06],"object_linear_velocity_m_s":[-1.7412709578841141e-12,-3.9719501795709843e-11,1.2729508363628287e-14],"object_angular_velocity_rad_s":[-8.636419306701429e-10,3.7859865159431404e-11,3.6449679185158533e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513449897089,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043093594082,-1.6109719617898501,1.3254586127516605,-1.3097471385697899,-1.5707950640277086,-0.449107983236071,0.0],"actuator_force":[0.0001339917166660598,-18.98713008410823,-20.284562733548682,-2.413538165022601,0.0006100510605620002,-1.3342033753360738e-06,-0.29335920139819316],"issued_joint_targets_rad":[-2.01990430500036,-1.6014781973336873,1.3356018685229976,-1.3049203878282034,-1.5707962874416523,-0.4491079788256712],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.6999999999984,"joint_targets_rad":[-2.01990430500036,-1.6014781973336873,1.3356018685229976,-1.3049203878282034,-1.5707962874416523,-0.4491079788256712],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.71999999999839,"qpos":[-2.0199048599641474,-1.6014970240681932,1.3356735865273301,-1.304981492342866,-1.5707960628884245,-0.44910822174630866,0.0029335758238442644,0.0001563006220744633,0.0031934460914533557,-0.003429263003868229,0.0029335761159531974,0.00015630157612924345,0.0031978241266135544,-0.0034379592872446716,0.08123550790191886,0.4777356024606845,0.2998922445797833,0.99999999999945,-1.6682187541638663e-11,7.313543198356147e-13,1.0484555839445895e-06],"qvel":[2.4708190300297655e-06,9.342922180976538e-05,-0.0003633016456355428,0.0003073084847975672,-1.1262884782982643e-06,1.226922727907521e-06,1.7987879129353975e-07,4.616789624773936e-09,1.7037182518212623e-07,-1.8201025636843263e-07,1.7806178229366704e-07,-2.067365200289838e-09,1.3403418284759357e-07,-1.8999243437275015e-07,-8.947407637691673e-13,-2.040950613106242e-11,1.2730896142409069e-14,7.137263657737219e-10,-3.1290942632916894e-11,3.9490252559216575e-14],"joint_position_rad":[-2.0199048599641474,-1.6014970240681932,1.3356735865273301,-1.304981492342866,-1.5707960628884245,-0.44910822174630866],"joint_velocity_rad_s":[2.4708190300297655e-06,9.342922180976538e-05,-0.0003633016456355428,0.0003073084847975672,-1.1262884782982643e-06,1.226922727907521e-06],"linkage_position_rad":[0.0029335758238442644,0.0001563006220744633,0.0031934460914533557,-0.003429263003868229,0.0029335761159531974,0.00015630157612924345,0.0031978241266135544,-0.0034379592872446716],"tcp_position_m":[0.08125538686525671,0.47723526415994033,0.4349805059099706],"tcp_quaternion_wxyz":[-1.544015604131417e-06,0.7071068912842265,0.7071066710757546,4.0170526301213e-06],"object_position_m":[0.08123550790191886,0.4777356024606845,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6682187541638663e-11,7.313543198356147e-13,1.0484555839445895e-06],"object_linear_velocity_m_s":[-8.947407637691673e-13,-2.040950613106242e-11,1.2730896142409069e-14],"object_angular_velocity_rad_s":[7.137264313864794e-10,-3.128944601205955e-11,3.949025255922056e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513427593108,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043049933696,-1.6109719480977378,1.3254585590011134,-1.3097470677369165,-1.570795068192842,-0.4491079788149175,0.0],"actuator_force":[0.00012161394352006027,-18.987219747813015,-20.284734394179395,-2.413518545504985,0.0006099766391116646,-1.2265772113551066e-06,-0.29335938669274103],"issued_joint_targets_rad":[-2.01990430104397,-1.6014781604239954,1.3356018067777362,-1.3049203260703457,-1.5707962911438373,-0.44910797481903647],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.71999999999839,"joint_targets_rad":[-2.01990430104397,-1.6014781604239954,1.3356018067777362,-1.3049203260703457,-1.5707962911438373,-0.44910797481903647],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.739999999998378,"qpos":[-2.019904812285476,-1.6014952461533976,1.3356666873718956,-1.3049756533240422,-1.5707960846187143,-0.4491081980969037,0.0029335792495157873,0.00015630071749840542,0.003193449319807855,-0.0034292664857623395,0.002933579501501516,0.00015630152912321464,0.003197826595136339,-0.003437962925962321,0.0812355079018917,0.4777356024600656,0.2998922445797833,0.99999999999945,-1.782304994010927e-11,7.813712719938755e-13,1.0484555864689003e-06],"qvel":[2.2802998642157803e-06,8.480304189902813e-05,-0.0003286611999201805,0.00027825599674747247,-1.0358282768490935e-06,1.127712256665494e-06,1.6246770639134398e-07,4.172683812367706e-09,1.5387552520683935e-07,-1.6438398167679143e-07,1.6082429945606256e-07,-1.8748215616770862e-09,1.2098171675618635e-07,-1.7161938366109138e-07,-9.653719786101228e-13,-2.202062630795397e-11,1.273228392118985e-14,6.281608541732313e-10,-2.75396420175735e-11,7.209898064756344e-14],"joint_position_rad":[-2.019904812285476,-1.6014952461533976,1.3356666873718956,-1.3049756533240422,-1.5707960846187143,-0.4491081980969037],"joint_velocity_rad_s":[2.2802998642157803e-06,8.480304189902813e-05,-0.0003286611999201805,0.00027825599674747247,-1.0358282768490935e-06,1.127712256665494e-06],"linkage_position_rad":[0.0029335792495157873,0.00015630071749840542,0.003193449319807855,-0.0034292664857623395,0.002933579501501516,0.00015630152912321464,0.003197826595136339,-0.003437962925962321],"tcp_position_m":[0.08125538833507144,0.4772353054923802,0.4349823943378366],"tcp_quaternion_wxyz":[-1.415330467447888e-06,0.7071068827897101,0.7071066795723678,3.681851843323686e-06],"object_position_m":[0.0812355079018917,0.4777356024600656,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.782304994010927e-11,7.813712719938755e-13,1.0484555864689003e-06],"object_linear_velocity_m_s":[-9.653719786101228e-13,-2.202062630795397e-11,1.273228392118985e-14],"object_angular_velocity_rad_s":[6.28160911920033e-10,-2.7538324819996847e-11,7.2098980647567e-14],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513407463458,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199043010382605,-1.6109719358497276,1.3254585103761514,-1.309747003592082,-1.57079507196733,-0.44910797480917924,0.0],"actuator_force":[0.00011037448575734743,-18.98730060941989,-20.284889511520305,-2.4135007336946046,0.000609908519891178,-1.1273634470398974e-06,-0.29335955401089436],"issued_joint_targets_rad":[-2.019904297460094,-1.6014781270371081,1.3356017509208256,-1.3049202701744913,-1.570796294497822,-0.44910797118887125],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.739999999998378,"joint_targets_rad":[-2.019904297460094,-1.6014781270371081,1.3356017509208256,-1.3049202701744913,-1.570796294497822,-0.44910797118887125],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.759999999998367,"qpos":[-2.0199047682957927,-1.6014936324148925,1.3356604460397616,-1.3049703663224237,-1.5707961045989316,-0.44910817636460565,0.0029335823435855846,0.00015630080375033165,0.0031934522355507255,-0.003429269630455457,0.0029335825592800725,0.00015630148651085482,0.0031978288230775725,-0.003437966212814223,0.08123550790186523,0.4777356024594618,0.2998922445797833,0.99999999999945,-1.872049928795593e-11,8.207184659161633e-13,1.04845558933293e-06],"qvel":[2.103778789309913e-06,7.697145049063466e-05,-0.00029732407644430007,0.0002519497308435048,-9.52406118748361e-07,1.0362831848803028e-06,1.4673860466304516e-07,3.771267758568052e-09,1.3897320450510667e-07,-1.4846179114153503e-07,1.452522245193433e-07,-1.7001492964573231e-09,1.0919707094792113e-07,-1.5501988779142942e-07,-1.0504981150273007e-12,-2.3962285714830713e-11,1.2732283921189849e-14,4.696646247405017e-10,-2.0590889867405135e-11,1.3163530224504535e-13],"joint_position_rad":[-2.0199047682957927,-1.6014936324148925,1.3356604460397616,-1.3049703663224237,-1.5707961045989316,-0.44910817636460565],"joint_velocity_rad_s":[2.103778789309913e-06,7.697145049063466e-05,-0.00029732407644430007,0.0002519497308435048,-9.52406118748361e-07,1.0362831848803028e-06],"linkage_position_rad":[0.0029335823435855846,0.00015630080375033165,0.0031934522355507255,-0.003429269630455457,0.0029335825592800725,0.00015630148651085482,0.0031978288230775725,-0.003437966212814223],"tcp_position_m":[0.08125538943270855,0.4772353431311089,0.43498409974497165],"tcp_quaternion_wxyz":[-1.297102023322536e-06,0.7071068749214725,0.7071066874423707,3.3739126258704208e-06],"object_position_m":[0.08123550790186523,0.4777356024594618,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.872049928795593e-11,8.207184659161633e-13,1.04845558933293e-06],"object_linear_velocity_m_s":[-1.0504981150273007e-12,-2.3962285714830713e-11,1.2732283921189849e-14],"object_angular_velocity_rad_s":[4.696646679167361e-10,-2.0589905022353083e-11,1.316353022450454e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513389296835,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042974554304,-1.6109719248915546,1.325458466384167,-1.309746945503051,-1.570795075387796,-0.44910797117983775,0.0],"actuator_force":[0.00010016920896305237,-18.98737353352044,-20.285029680610933,-2.413484563398015,0.0006098461797137134,-1.0359345594679326e-06,-0.29335970509742876],"issued_joint_targets_rad":[-2.0199042942136693,-1.6014780968344728,1.3356017003875766,-1.3049202195834635,-1.5707962975363443,-0.4491079678998149],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.759999999998367,"joint_targets_rad":[-2.0199042942136693,-1.6014780968344728,1.3356017003875766,-1.3049202195834635,-1.5707962975363443,-0.4491079678998149],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.779999999998356,"qpos":[-2.019904727722619,-1.6014921677271505,1.335654799800857,-1.3049655791573282,-1.5707961229657659,-0.44910815639851775,0.002933585138094645,0.00015630088171235325,0.0031934548688957736,-0.003429272470550797,0.0029335853209638356,0.00015630144788196025,0.0031978308338234144,-0.003437969181773973,0.08123550790183949,0.4777356024588749,0.2998922445797833,0.99999999999945,-1.921647266978202e-11,8.424642391629757e-13,1.0484555925195605e-06],"qvel":[1.9403051821925825e-06,6.986145593738205e-05,-0.00026897524471788156,0.00022813013570971904,-8.754997114437221e-07,9.520519627483816e-07,1.3252967152223259e-07,3.4084988843776246e-09,1.2551175641760782e-07,-1.3407902738015872e-07,1.3118531855547606e-07,-1.5417440367976777e-09,9.855771272412899e-08,-1.4002377182094671e-07,-1.1661313349077207e-12,-2.659993408867665e-11,1.2730896142409069e-14,2.0843304639696748e-10,-9.137942396166318e-12,2.403326905740609e-13],"joint_position_rad":[-2.019904727722619,-1.6014921677271505,1.335654799800857,-1.3049655791573282,-1.5707961229657659,-0.44910815639851775],"joint_velocity_rad_s":[1.9403051821925825e-06,6.986145593738205e-05,-0.00026897524471788156,0.00022813013570971904,-8.754997114437221e-07,9.520519627483816e-07],"linkage_position_rad":[0.002933585138094645,0.00015630088171235325,0.0031934548688957736,-0.003429272470550797,0.0029335853209638356,0.00015630144788196025,0.0031978308338234144,-0.003437969181773973],"tcp_position_m":[0.08125539021366247,0.4772353774026827,0.43498563987753536],"tcp_quaternion_wxyz":[-1.1885107276765906e-06,0.7071068676365554,0.7071066947287735,3.0910976253597142e-06],"object_position_m":[0.08123550790183949,0.4777356024588749,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.921647266978202e-11,8.424642391629757e-13,1.0484555925195605e-06],"object_linear_velocity_m_s":[-1.1661313349077207e-12,-2.659993408867665e-11,1.2730896142409069e-14],"object_angular_velocity_rad_s":[2.0843306555796313e-10,-9.137505330550663e-12,2.403326905740555e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513372902398,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042942098604,-1.6109719150858246,1.3254584265805993,-1.3097468928975093,-1.5707950784874318,-0.449107967891538,0.0],"actuator_force":[9.09034442884149e-05,-18.987439299723064,-20.285156342628397,-2.4134698836614916,0.0006097891381386944,-9.517064256669983e-07,-0.2933598415278744],"issued_joint_targets_rad":[-2.019904291272933,-1.6014780695104964,1.3356016546680287,-1.304920173793183,-1.5707963002890648,-0.4491079649198249],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.779999999998356,"joint_targets_rad":[-2.019904291272933,-1.6014780695104964,1.3356016546680287,-1.304920173793183,-1.5707963002890648,-0.4491079649198249],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.799999999998345,"qpos":[-2.0199046903121527,-1.6014908383543969,1.335649691907576,-1.3049612445798546,-1.5707961398457024,-0.4491081380591199,0.002933587661999758,0.00015630095218156223,0.003193457247149368,-0.003429275035506908,0.002933587815178549,0.00015630141286466354,0.0031978326484986873,-0.003437971863545435,0.08123550790181319,0.47773560245827523,0.2998922445797833,0.99999999999945,-2.0205608023326957e-11,8.85819429824005e-13,1.0484555964488297e-06],"qvel":[1.7889838141991092e-06,6.340674904595655e-05,-0.00024332971793312704,0.00020656218629960845,-8.046226228122969e-07,8.74475741656527e-07,1.1969452571942326e-07,3.0806183929199704e-09,1.1335225021998485e-07,-1.210877336183835e-07,1.1847863604505101e-07,-1.3980368671977774e-09,8.895301282760882e-08,-1.264761020705535e-07,-1.3695222988963653e-12,-3.1239731411596555e-11,1.273367169997063e-14,-1.631492609962541e-10,7.151661424515291e-12,4.3878620288782567e-13],"joint_position_rad":[-2.0199046903121527,-1.6014908383543969,1.335649691907576,-1.3049612445798546,-1.5707961398457024,-0.4491081380591199],"joint_velocity_rad_s":[1.7889838141991092e-06,6.340674904595655e-05,-0.00024332971793312704,0.00020656218629960845,-8.046226228122969e-07,8.74475741656527e-07],"linkage_position_rad":[0.002933587661999758,0.00015630095218156223,0.003193457247149368,-0.003429275035506908,0.002933587815178549,0.00015630141286466354,0.0031978326484986873,-0.003437971863545435],"tcp_position_m":[0.08125539072644708,0.4772354086051773,0.4349870307601553],"tcp_quaternion_wxyz":[-1.0887977964106925e-06,0.7071068608945773,0.707106701472001,2.831427842220315e-06],"object_position_m":[0.08123550790181319,0.47773560245827523,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0205608023326957e-11,8.85819429824005e-13,1.0484555964488297e-06],"object_linear_velocity_m_s":[-1.3695222988963653e-12,-3.1239731411596555e-11,1.273367169997063e-14],"object_angular_velocity_rad_s":[-1.6314927599229339e-10,7.1513193150057985e-12,4.387862028878665e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513358107692,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042912698215,-1.6109719063100942,1.325458390564121,-1.309746845257351,-1.5707950812963194,-0.44910796491224275,0.0],"actuator_force":[8.249113716374268e-05,-18.987498611013052,-20.28527079973628,-2.41345655737814,0.0006097369537201303,-8.741355941310758e-07,-0.29335996472472414],"issued_joint_targets_rad":[-2.019904288609109,-1.601478044789261,1.335601613301538,-1.3049201323475845,-1.5707963027828578,-0.4491079622198687],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.799999999998345,"joint_targets_rad":[-2.019904288609109,-1.601478044789261,1.335601613301538,-1.3049201323475845,-1.5707963027828578,-0.4491079622198687],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.819999999998334,"qpos":[-2.019904655828157,-1.6014896318233383,1.335645071024232,-1.304957319806844,-1.570796155355729,-0.44910812121746857,0.0029335899414681325,0.00015630101587853128,0.0031934593949858227,-0.0034292773519466087,0.0029335900677919806,0.0001563013811216447,0.0031978342861835145,-0.003437974285872502,0.08123550790178753,0.4777356024576888,0.2998922445797833,0.99999999999945,-1.9885062185563667e-11,8.717455997533729e-13,1.0484556004952124e-06],"qvel":[1.648972792579118e-06,5.754709399870778e-05,-0.0002201296882596075,0.00018703306682308805,-7.393221658380321e-07,8.030498921760248e-07,1.0810077485970408e-07,2.7842995444520424e-09,1.0236922146899553e-07,-1.0935339084800465e-07,1.0700107541940838e-07,-1.2677167121275458e-09,8.02825562359706e-08,-1.1423771881205744e-07,-1.677858611274427e-12,-3.827462818979403e-11,1.2722569469724378e-14,-7.417378361601261e-10,3.251351845276045e-11,8.011126459514249e-13],"joint_position_rad":[-2.019904655828157,-1.6014896318233383,1.335645071024232,-1.304957319806844,-1.570796155355729,-0.44910812121746857],"joint_velocity_rad_s":[1.648972792579118e-06,5.754709399870778e-05,-0.0002201296882596075,0.00018703306682308805,-7.393221658380321e-07,8.030498921760248e-07],"linkage_position_rad":[0.0029335899414681325,0.00015630101587853128,0.0031934593949858227,-0.0034292773519466087,0.0029335900677919806,0.0001563013811216447,0.0031978342861835145,-0.003437974285872502],"tcp_position_m":[0.08125539101340024,0.4772354370106282,0.43498828686301305],"tcp_quaternion_wxyz":[-9.972611150350947e-07,0.707106854657624,0.7071067077100048,2.5930720044085014e-06],"object_position_m":[0.08123550790178753,0.4777356024576888,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9885062185563667e-11,8.717455997533729e-13,1.0484556004952124e-06],"object_linear_velocity_m_s":[-1.677858611274427e-12,-3.827462818979403e-11,1.2722569469724378e-14],"object_angular_velocity_rad_s":[-7.417379043364544e-10,3.2511963094343964e-11,8.01112645951602e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513344756981,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904288606568,-1.6109718984551848,1.325458357972328,-1.3097468021135232,-1.570795083841722,-0.4491079622129243,0.0],"actuator_force":[7.485406149498885e-05,-18.98755210129275,-20.285374228504224,-2.4134444600218785,0.0006096892201412629,-8.027170679270057e-07,-0.29336007597225705],"issued_joint_targets_rad":[-2.019904286196129,-1.6014780224215794,1.335601575871928,-1.3049200948340234,-1.5707963050420706,-0.44910795977363843],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.819999999998334,"joint_targets_rad":[-2.019904286196129,-1.6014780224215794,1.335601575871928,-1.3049200948340234,-1.5707963050420706,-0.44910795977363843],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.839999999998323,"qpos":[-2.0199046240508944,-1.6014885368074983,1.335640890710916,-1.3049537660988682,-1.5707961696040031,-0.4491081057544456,0.0029335920001442215,0.00015630107345432953,0.003193461334700772,-0.0034292794439197017,0.0029335921021777615,0.00015630135234704558,0.003197835764107794,-0.003437976473830685,0.0812355079017631,0.47773560245713137,0.2998922445797833,0.99999999999945,-1.7902436388838783e-11,7.848130912447559e-13,1.0484556042219414e-06],"qvel":[1.5194813898476648e-06,5.222777442188799e-05,-0.0001991419351140144,0.00016935007248362525,-6.791773629076216e-07,7.37305647767555e-07,9.762870585272352e-08,2.5164979122170973e-09,9.244917503172694e-08,-9.875484387804559e-08,9.663409628066616e-08,-1.149505265296388e-09,7.245596906373578e-08,-1.0318245959690344e-07,-2.1642558210632046e-12,-4.937042318083504e-11,1.2717018354601251e-14,-1.6175812960899831e-09,7.09120343785788e-11,1.4626303839229944e-12],"joint_position_rad":[-2.0199046240508944,-1.6014885368074983,1.335640890710916,-1.3049537660988682,-1.5707961696040031,-0.4491081057544456],"joint_velocity_rad_s":[1.5194813898476648e-06,5.222777442188799e-05,-0.0001991419351140144,0.00016935007248362525,-6.791773629076216e-07,7.37305647767555e-07],"linkage_position_rad":[0.0029335920001442215,0.00015630107345432953,0.003193461334700772,-0.0034292794439197017,0.0029335921021777615,0.00015630135234704558,0.003197835764107794,-0.003437976473830685],"tcp_position_m":[0.08125539111139911,0.477235462867266,0.4349894212527024],"tcp_quaternion_wxyz":[-9.132513720482974e-07,0.7071068488901379,0.7071067134783741,2.374336512237861e-06],"object_position_m":[0.0812355079017631,0.47773560245713137,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7902436388838783e-11,7.848130912447559e-13,1.0484556042219414e-06],"object_linear_velocity_m_s":[-2.1642558210632046e-12,-4.937042318083504e-11,1.2717018354601251e-14],"object_angular_velocity_rad_s":[-1.617581444782663e-09,7.090864245412488e-11,1.4626303839230556e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513332709633,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042861940533,-1.6109718914236986,1.3254583284778823,-1.3097467630413626,-1.5707950861483464,-0.4491079597672794,0.0],"actuator_force":[6.792112662878935e-05,-18.987600342169117,-20.285467692021484,-2.4134334784955627,0.0006096455646229515,-7.369816614755109e-07,-0.29336017643010986],"issued_joint_targets_rad":[-2.019904284010378,-1.6014780021823543,1.3356015420031218,-1.30492006087912,-1.5707963070887638,-0.44910795755729693],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.839999999998323,"joint_targets_rad":[-2.019904284010378,-1.6014780021823543,1.3356015420031218,-1.30492006087912,-1.5707963070887638,-0.44910795755729693],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.859999999998312,"qpos":[-2.0199045947761105,-1.6014875430221045,1.3356371089565766,-1.3049505483780934,-1.570796182690475,-0.44910809156005377,0.0029335938593915423,0.00015630112549740491,0.0031934630864385223,-0.0034292813331563503,0.0029335939394544625,0.0001563013262636499,0.00319783709783216,-0.0034379784500744464,0.08123550790173628,0.4777356024565197,0.2998922445797833,0.99999999999945,-1.809631201299013e-11,7.933071038425556e-13,1.0484556097700447e-06],"qvel":[1.3997678435710224e-06,4.739908971264366e-05,-0.00018015548051767574,0.00015333870945331816,-6.237970023992371e-07,6.768078329956154e-07,8.81700591272375e-08,2.274440862953438e-09,8.348934663385581e-08,-8.918295525052615e-08,8.727049985262605e-08,-1.042323736506335e-09,6.539119615017517e-08,-9.319617492549855e-08,-9.742912052170192e-13,-2.222527532772186e-11,1.2728120584847505e-14,6.706647649589358e-10,-2.9401496674503545e-11,1.584638342481391e-13],"joint_position_rad":[-2.0199045947761105,-1.6014875430221045,1.3356371089565766,-1.3049505483780934,-1.570796182690475,-0.44910809156005377],"joint_velocity_rad_s":[1.3997678435710224e-06,4.739908971264366e-05,-0.00018015548051767574,0.00015333870945331816,-6.237970023992371e-07,6.768078329956154e-07],"linkage_position_rad":[0.0029335938593915423,0.00015630112549740491,0.0031934630864385223,-0.0034292813331563503,0.0029335939394544625,0.0001563013262636499,0.00319783709783216,-0.0034379784500744464],"tcp_position_m":[0.0812553910524996,0.4772354864015648,0.4349904457284428],"tcp_quaternion_wxyz":[-8.361684095135599e-07,0.7071068435588077,0.7071067188104461,2.1736559466413595e-06],"object_position_m":[0.08123550790173628,0.4777356024565197,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.809631201299013e-11,7.933071038425556e-13,1.0484556097700447e-06],"object_linear_velocity_m_s":[-9.742912052170192e-13,-2.222527532772186e-11,1.2728120584847505e-14],"object_angular_velocity_rad_s":[6.706648266097893e-10,-2.940009034996296e-11,1.5846383424814456e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513321838636,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042840086823,-1.610971885128706,1.3254583017850443,-1.3097467276563757,-1.570795088238586,-0.4491079575514749,0.0],"actuator_force":[6.162771933304612e-05,-18.987643849087817,-20.28555215085771,-2.4134235100865453,0.0006096056447404408,-6.764938689229893e-07,-0.2933602671450951],"issued_joint_targets_rad":[-2.019904282030464,-1.6014779838682056,1.3356015113552275,-1.3049200301450166,-1.5707963089429229,-0.4491079555492464],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.859999999998312,"joint_targets_rad":[-2.019904282030464,-1.6014779838682056,1.3356015113552275,-1.3049200301450166,-1.5707963089429229,-0.4491079555492464],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.8799999999983,"qpos":[-2.0199045678140535,-1.6014866411285715,1.3356336877566282,-1.3049476348822484,-1.5707961947074733,-0.4491080785327592,0.002933595538511517,0.00015630117253983221,0.0031934646683984044,-0.003429283039287301,0.0029335955987019324,0.00015630130261998603,0.0031978383014051566,-0.003437980235075524,0.08123550790170872,0.4777356024558915,0.2998922445797833,0.99999999999945,-1.9174110191755802e-11,8.405188872833269e-13,1.0484556168700309e-06],"qvel":[1.2891370719690393e-06,4.301589703456065e-05,-0.00016297946792791606,0.00013884097422194034,-5.72817759728177e-07,6.211527073473707e-07,7.962701410299239e-08,2.0556871179051713e-09,7.539726553817794e-08,-8.053755358686616e-08,7.881342330829326e-08,-9.450930553292931e-10,5.9014577710557414e-08,-8.417550961576814e-08,-1.0621881537052438e-12,-2.4231429471532755e-11,1.2730896142409067e-14,5.326381068537402e-10,-2.33510548654502e-11,2.893153231738752e-13],"joint_position_rad":[-2.0199045678140535,-1.6014866411285715,1.3356336877566282,-1.3049476348822484,-1.5707961947074733,-0.4491080785327592],"joint_velocity_rad_s":[1.2891370719690393e-06,4.301589703456065e-05,-0.00016297946792791606,0.00013884097422194034,-5.72817759728177e-07,6.211527073473707e-07],"linkage_position_rad":[0.002933595538511517,0.00015630117253983221,0.0031934646683984044,-0.003429283039287301,0.0029335955987019324,0.00015630130261998603,0.0031978383014051566,-0.003437980235075524],"tcp_position_m":[0.08125539086450255,0.4772355078201193,0.4349913709450617],"tcp_quaternion_wxyz":[-7.654577865729462e-07,0.7071068386324558,0.707106723737421,1.9895841223925805e-06],"object_position_m":[0.08123550790170872,0.4777356024558915,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9174110191755802e-11,8.405188872833269e-13,1.0484556168700309e-06],"object_linear_velocity_m_s":[-1.0621881537052438e-12,-2.4231429471532755e-11,1.2730896142409067e-14],"object_angular_velocity_rad_s":[5.326381558176585e-10,-2.3349937970557972e-11,2.8931532317394013e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513312029309,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042820290787,-1.6109718794925896,1.3254582776265718,-1.309746695610432,-1.5707950901327332,-0.449107955543917,0.0],"actuator_force":[5.591512081082328e-05,-18.987683086849756,-20.28562847294188,-2.4134144615139803,0.0006095691460359376,-6.208496472481784e-07,-0.29336034906285957],"issued_joint_targets_rad":[-2.0199042802370064,-1.6014779672953419,1.3356014836210026,-1.3049200023259786,-1.5707963106226548,-0.4491079537299163],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.8799999999983,"joint_targets_rad":[-2.0199042802370064,-1.6014779672953419,1.3356014836210026,-1.3049200023259786,-1.5707963106226548,-0.4491079537299163],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.89999999999829,"qpos":[-2.0199045429885536,-1.60148582264771,1.3356305927308403,-1.3049449968512834,-1.5707962057402525,-0.44910806657887437,0.0029335970549413904,0.00015630121506216824,0.0031934660970216015,-0.0034292845800466686,0.002933597097157039,0.0001563012811880811,0.0031978393875120798,-0.003437981847327328,0.08123550790168187,0.4777356024552788,0.2998922445797833,0.99999999999945,-1.98458035616031e-11,8.699519422513262e-13,1.0484556248163947e-06],"qvel":[1.186938454272126e-06,3.903719494041258e-05,-0.00014744124332791478,0.0001257137955444628,-5.259024294295025e-07,5.69965922019663e-07,7.1911107829037e-08,1.8579816014020223e-09,6.808880150929263e-08,-7.273003596870734e-08,7.117527045267857e-08,-8.569361225569827e-10,5.325899592322236e-08,-7.602754006586262e-08,-1.1743790053718766e-12,-2.6791105048992383e-11,1.2730896142409065e-14,2.9403610649531664e-10,-1.2889980351863444e-11,5.282159678068058e-13],"joint_position_rad":[-2.0199045429885536,-1.60148582264771,1.3356305927308403,-1.3049449968512834,-1.5707962057402525,-0.44910806657887437],"joint_velocity_rad_s":[1.186938454272126e-06,3.903719494041258e-05,-0.00014744124332791478,0.0001257137955444628,-5.259024294295025e-07,5.69965922019663e-07],"linkage_position_rad":[0.0029335970549413904,0.00015630121506216824,0.0031934660970216015,-0.0034292845800466686,0.002933597097157039,0.0001563012811880811,0.0031978393875120798,-0.003437981847327328],"tcp_position_m":[0.08125539057145931,0.47723552731136176,0.434992206524045],"tcp_quaternion_wxyz":[-7.006075478619944e-07,0.70710683408193,0.7071067282884693,1.8207856740998827e-06],"object_position_m":[0.08123550790168187,0.4777356024552788,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.98458035616031e-11,8.699519422513262e-13,1.0484556248163947e-06],"object_linear_velocity_m_s":[-1.1743790053718766e-12,-2.6791105048992383e-11,1.2730896142409065e-14],"object_angular_velocity_rad_s":[2.9403613352381575e-10,-1.2889363784194622e-11,5.282159678068226e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513303178106,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904280235875,-1.6109718744460189,1.325458255760919,-1.309746666588308,-1.5707950918491786,-0.4491079537250388,0.0],"actuator_force":[5.072997555544134e-05,-18.98771847459375,-20.28569744251172,-2.4134062480667353,0.000609535779858561,-5.696744267424947e-07,-0.29336042303681287],"issued_joint_targets_rad":[-2.0199042786124504,-1.6014779522976437,1.3356014585226883,-1.3049199771453401,-1.5707963121443647,-0.4491079520815744],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.89999999999829,"joint_targets_rad":[-2.0199042786124504,-1.6014779522976437,1.3356014585226883,-1.3049199771453401,-1.5707963121443647,-0.4491079520815744],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.919999999998279,"qpos":[-2.0199045201361416,-1.601485079880866,1.3356277927776714,-1.3049426082436393,-1.5707962158675055,-0.44910805561198386,0.002933598424433653,0.00015630125349908839,0.003193467387160348,-0.003429285971456611,0.00293359845039101,0.00015630126176122833,0.0031978403676040158,-0.003437983303540916,0.08123550790165583,0.47773560245468555,0.2998922445797833,0.99999999999945,-1.9915638330894915e-11,8.729928644991497e-13,1.048455633452343e-06],"qvel":[1.092563569269279e-06,3.542574482082464e-05,-0.00013338461921096647,0.00011382762348745887,-4.827382345032179e-07,5.229005741381355e-07,6.4942406375229e-08,1.6793062750843713e-09,6.148841242443278e-08,-6.567876838041753e-08,6.427689123849768e-08,-7.769853658060219e-10,4.8064238804889646e-08,-6.866795184772357e-08,-1.337860445776096e-12,-3.052165915430883e-11,1.2733671699970629e-14,-8.31994218771675e-11,3.6449112848728994e-12,9.643863661521395e-13],"joint_position_rad":[-2.0199045201361416,-1.601485079880866,1.3356277927776714,-1.3049426082436393,-1.5707962158675055,-0.44910805561198386],"joint_velocity_rad_s":[1.092563569269279e-06,3.542574482082464e-05,-0.00013338461921096647,0.00011382762348745887,-4.827382345032179e-07,5.229005741381355e-07],"linkage_position_rad":[0.002933598424433653,0.00015630125349908839,0.003193467387160348,-0.003429285971456611,0.00293359845039101,0.00015630126176122833,0.0031978403676040158,-0.003437983303540916],"tcp_position_m":[0.08125539019412188,0.47723554504713667,0.4349929611537958],"tcp_quaternion_wxyz":[-6.411451889612195e-07,0.7071068298799964,0.7071067324908414,1.6660281510692386e-06],"object_position_m":[0.08123550790165583,0.47773560245468555,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9915638330894915e-11,8.729928644991497e-13,1.048455633452343e-06],"object_linear_velocity_m_s":[-1.337860445776096e-12,-3.052165915430883e-11,1.2733671699970629e-14],"object_angular_velocity_rad_s":[-8.319942952003839e-11,3.644736823098162e-12,9.643863661522258e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513295191596,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904278611526,-1.6109718699270443,1.3254582359697369,-1.309746640304577,-1.5707950934045891,-0.4491079520771111,0.0],"actuator_force":[4.602380295182229e-05,-18.987750390284873,-20.285759768184562,-2.4133987928174747,0.0006095052816590396,-5.226210646469553e-07,-0.29336048983772123],"issued_joint_targets_rad":[-2.019904277140893,-1.6014779387249454,1.3356014358091395,-1.3049199543527201,-1.5707963135229153,-0.4491079505881551],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.919999999998279,"joint_targets_rad":[-2.019904277140893,-1.6014779387249454,1.3356014358091395,-1.3049199543527201,-1.5707963135229153,-0.4491079505881551],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.939999999998268,"qpos":[-2.0199044991052144,-1.601484405838275,1.3356252597615645,-1.3049404454793252,-1.5707962251618424,-0.4491080455524078,0.002933599661218091,0.00015630128824316436,0.0031934685522304832,-0.0034292872279822256,0.002933599672469699,0.0001563012441520644,0.003197841252019419,-0.0034379846188095954,0.08123550790163092,0.4777356024541179,0.2998922445797833,0.99999999999945,-1.909213663782726e-11,8.368642624488733e-13,1.0484556423456765e-06],"qvel":[1.0054439977568857e-06,3.214772678647282e-05,-0.00012066830417885767,0.00010306515185377768,-4.430352168569664e-07,4.796353620916033e-07,5.864864873582871e-08,1.5177916864574721e-09,5.552749730417432e-08,-5.931084450372991e-08,5.804673880986193e-08,-7.044839307845301e-10,4.33757589740715e-08,-6.202033620840128e-08,-1.5987420741512908e-12,-3.6475329644600504e-11,1.2732283921189846e-14,-6.523936763073099e-10,2.859097201215131e-11,1.7607228525273226e-12],"joint_position_rad":[-2.0199044991052144,-1.601484405838275,1.3356252597615645,-1.3049404454793252,-1.5707962251618424,-0.4491080455524078],"joint_velocity_rad_s":[1.0054439977568857e-06,3.214772678647282e-05,-0.00012066830417885767,0.00010306515185377768,-4.430352168569664e-07,4.796353620916033e-07],"linkage_position_rad":[0.002933599661218091,0.00015630128824316436,0.0031934685522304832,-0.0034292872279822256,0.002933599672469699,0.0001563012441520644,0.003197841252019419,-0.0034379846188095954],"tcp_position_m":[0.08125538975034051,0.4772355611841364,0.43499364268017476],"tcp_quaternion_wxyz":[-5.866348128052971e-07,0.7071068260012332,0.7071067363699723,1.5241746092413068e-06],"object_position_m":[0.08123550790163092,0.4777356024541179,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.909213663782726e-11,8.368642624488733e-13,1.0484556423456765e-06],"object_linear_velocity_m_s":[-1.5987420741512908e-12,-3.6475329644600504e-11,1.2732283921189846e-14],"object_angular_velocity_rad_s":[-6.523937362586041e-10,2.8589604000493752e-11,1.7607228525275518e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351328798537,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904277140138,-1.6109718658802974,1.3254582180556045,-1.3097466165007736,-1.570795094814069,-0.4491079505840716,0.0],"actuator_force":[4.175255435256986e-05,-18.987779174759908,-20.285816090248773,-2.413392025909502,0.0006094774083749144,-4.793681114279025e-07,-0.2933605501613272],"issued_joint_targets_rad":[-2.019904275807927,-1.6014779264414782,1.3356014152532563,-1.304919933721532,-1.5707963147717718,-0.44910794923510006],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.939999999998268,"joint_targets_rad":[-2.019904275807927,-1.6014779264414782,1.3356014152532563,-1.304919933721532,-1.5707963147717718,-0.44910794923510006],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.959999999998256,"qpos":[-2.0199044797552483,-1.6014837941739637,1.335622968230075,-1.3049384872072751,-1.570796233690237,-0.44910803632670115,0.002933600778148439,0.00015630131964942696,0.0031934696043512626,-0.0034292883626949318,0.0029336007760985636,0.00015630122819065872,0.003197842050090395,-0.0034379858067710373,0.08123550790160762,0.47773560245358676,0.2998922445797833,0.99999999999945,-1.696176569952395e-11,7.43458168132491e-13,1.048455650536465e-06],"qvel":[9.250491623001184e-07,2.917242690647301e-05,-0.00010916448219975776,9.332016118535019e-05,-4.0652472232887435e-07,4.3987286227679897e-07,5.2964579453035624e-08,1.37182553599038e-09,5.0144202933539046e-08,-5.355998437982641e-08,5.242019496599286e-08,-6.38731330858211e-10,3.9144336811468764e-08,-5.601596326880763e-08,-2.0351569354355384e-12,-4.643449423914755e-11,1.2725345027285937e-14,-1.487275919987369e-09,6.518201747104018e-11,3.2146529818703206e-12],"joint_position_rad":[-2.0199044797552483,-1.6014837941739637,1.335622968230075,-1.3049384872072751,-1.570796233690237,-0.44910803632670115],"joint_velocity_rad_s":[9.250491623001184e-07,2.917242690647301e-05,-0.00010916448219975776,9.332016118535019e-05,-4.0652472232887435e-07,4.3987286227679897e-07],"linkage_position_rad":[0.002933600778148439,0.00015630131964942696,0.0031934696043512626,-0.0034292883626949318,0.0029336007760985636,0.00015630122819065872,0.003197842050090395,-0.0034379858067710373],"tcp_position_m":[0.08125538925541939,0.47723557586522153,0.43499425818823684],"tcp_quaternion_wxyz":[-5.366744654752379e-07,0.7071068224219306,0.7071067399495836,1.3941766660313542e-06],"object_position_m":[0.08123550790160762,0.47773560245358676,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.696176569952395e-11,7.43458168132491e-13,1.048455650536465e-06],"object_linear_velocity_m_s":[-2.0351569354355384e-12,-4.643449423914755e-11,1.2725345027285937e-14],"object_angular_velocity_rad_s":[-1.4872760566650024e-09,6.517889878532146e-11,3.214652981870622e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513281483274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042758073102,-1.6109718622562719,1.3254582018400045,-1.3097465949428546,-1.5707950960913064,-0.4491079492313646,0.0],"actuator_force":[3.787621108131134e-05,-18.98780513537895,-20.285866987261215,-2.4133858839082905,0.000609451937407357,-4.396179633658903e-07,-0.29336060463622227],"issued_joint_targets_rad":[-2.0199042746005036,-1.6014779153244803,1.3356013966496598,-1.304919915046709,-1.5707963159031328,-0.44910794800921966],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.959999999998256,"joint_targets_rad":[-2.0199042746005036,-1.6014779153244803,1.3356013966496598,-1.304919915046709,-1.5707963159031328,-0.44910794800921966],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.979999999998245,"qpos":[-2.019904461956053,-1.601483239126614,1.3356208951579718,-1.3049367140946826,-1.5707962415144447,-0.44910802786718806,0.002933601786835025,0.00015630134803858747,0.003193470554467054,-0.0034292893874003816,0.0029336017727538168,0.00015630121372291802,0.003197842770240321,-0.0034379868797426785,0.08123550790158235,0.4777356024530109,0.2998922445797833,0.99999999999945,-1.699913662080633e-11,7.450679204443222e-13,1.0484556627304112e-06],"qvel":[8.508842167171772e-07,2.647195287785346e-05,-9.875752740680053e-05,8.449647115002734e-05,-3.729579503183785e-07,4.033378778914268e-07,4.7831196437837143e-08,1.239902583189886e-09,4.5282597159572156e-08,-4.836682181649003e-08,4.7338840216031697e-08,-5.791133471826659e-10,3.532539493222401e-08,-5.059288340611177e-08,-9.166991050596403e-13,-2.0915386835769535e-11,1.2723957248505155e-14,6.350592279727429e-10,-2.7836007450633108e-11,3.4828123614067857e-13],"joint_position_rad":[-2.019904461956053,-1.601483239126614,1.3356208951579718,-1.3049367140946826,-1.5707962415144447,-0.44910802786718806],"joint_velocity_rad_s":[8.508842167171772e-07,2.647195287785346e-05,-9.875752740680053e-05,8.449647115002734e-05,-3.729579503183785e-07,4.033378778914268e-07],"linkage_position_rad":[0.002933601786835025,0.00015630134803858747,0.003193470554467054,-0.0034292893874003816,0.0029336017727538168,0.00015630121372291802,0.003197842770240321,-0.0034379868797426785],"tcp_position_m":[0.08125538872243007,0.4772355892206223,0.4349948140760428],"tcp_quaternion_wxyz":[-4.908936461161466e-07,0.7071068191199913,0.7071067432517809,1.2750680076516444e-06],"object_position_m":[0.08123550790158235,0.4777356024530109,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.699913662080633e-11,7.450679204443222e-13,1.0484556627304112e-06],"object_linear_velocity_m_s":[-9.166991050596403e-13,-2.0915386835769535e-11,1.2723957248505155e-14],"object_angular_velocity_rad_s":[6.35059286340986e-10,-2.7834675787672573e-11,3.482812361407073e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351327561656,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042745999995,-1.610971859010697,1.3254581871614912,-1.309746575418878,-1.570795097248705,-0.4491079480058031,0.0],"actuator_force":[3.4358420180069515e-05,-18.987828549316873,-20.285912981998536,-2.4133803092125845,0.0006094286648021807,-4.0309529936166655e-07,-0.29336065382962534],"issued_joint_targets_rad":[-2.0199042735068002,-1.6014779052629338,1.3356013798125954,-1.3049198981426595,-1.570796316928051,-0.4491079468985638],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.979999999998245,"joint_targets_rad":[-2.0199042735068002,-1.6014779052629338,1.3356013798125954,-1.3049198981426595,-1.570796316928051,-0.4491079468985638],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":12.999999999998234,"qpos":[-2.0199044455870654,-1.601482735465842,1.3356190197157451,-1.304935108636251,-1.5707962486913905,-0.4491080201115283,0.0029336026977648307,0.00015630137370077626,0.0031934714124653117,-0.0034292903127627144,0.0029336026728011286,0.00015630120060927457,0.0031978434200722306,-0.0034379878488557227,0.0812355079015548,0.47773560245238245,0.2998922445797833,0.99999999999945,-1.8869276222081985e-11,8.270312650444599e-13,1.0484556803129992e-06],"qvel":[7.824879985216713e-07,2.4020975663881338e-05,-8.934284143900417e-05,7.65069918685465e-05,-3.4210461491263166e-07,3.6977590024654246e-07,4.319521654337972e-08,1.1206769853884436e-09,4.089224807113067e-08,-4.3676771801679175e-08,4.274991599088701e-08,-5.250391515727152e-10,3.1878946863690876e-08,-4.569457778708159e-08,-1.031768171458586e-12,-2.3541003800076047e-11,1.2723957248505153e-14,5.447317463146809e-10,-2.3876055305524924e-11,6.35872314639541e-13],"joint_position_rad":[-2.0199044455870654,-1.601482735465842,1.3356190197157451,-1.304935108636251,-1.5707962486913905,-0.4491080201115283],"joint_velocity_rad_s":[7.824879985216713e-07,2.4020975663881338e-05,-8.934284143900417e-05,7.65069918685465e-05,-3.4210461491263166e-07,3.6977590024654246e-07],"linkage_position_rad":[0.0029336026977648307,0.00015630137370077626,0.0031934714124653117,-0.0034292903127627144,0.0029336026728011286,0.00015630120060927457,0.0031978434200722306,-0.0034379878488557227],"tcp_position_m":[0.08125538816248881,0.47723560136904225,0.43499531612130526],"tcp_quaternion_wxyz":[-4.489509813147133e-07,0.7071068160748352,0.7071067462971538,1.1659583270552264e-06],"object_position_m":[0.0812355079015548,0.47773560245238245,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8869276222081985e-11,8.270312650444599e-13,1.0484556803129992e-06],"object_linear_velocity_m_s":[-1.031768171458586e-12,-2.3541003800076047e-11,1.2723957248505153e-14],"object_angular_velocity_rad_s":[5.447317963794556e-10,-2.3874913051261077e-11,6.358723146395464e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513270323212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042735063886,-1.6109718561039716,1.3254581738740383,-1.309746557736917,-1.5707950982975072,-0.4491079468954394,0.0],"actuator_force":[3.1166154258244205e-05,-18.987849666524653,-20.285954546838184,-2.413375249519845,0.0006094074032034769,-3.6954557458557247e-07,-0.2933606982539606],"issued_joint_targets_rad":[-2.019904272516108,-1.6014778961564333,1.3356013645740445,-1.3049198828414124,-1.5707963178565385,-0.44910794589230324],"issued_gripper_0_255":0.0,"command":{"t_seconds":12.999999999998234,"joint_targets_rad":[-2.019904272516108,-1.6014778961564333,1.3356013645740445,-1.3049198828414124,-1.5707963178565385,-0.44910794589230324],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.019999999998223,"qpos":[-2.019904430536695,-1.601482278443393,1.3356173230601982,-1.3049336549814616,-1.5707962552735277,-0.4491080130023138,0.00293360352040974,0.00015630139689796802,0.003193472187274886,-0.003429291148407157,0.002933603485602671,0.00015630118872299838,0.0031978440064491386,-0.003437988724157413,0.08123550790152742,0.4777356024517578,0.2998922445797833,0.99999999999945,-2.0078208577141287e-11,8.800014453126961e-13,1.0484557000932238e-06],"qvel":[7.194310781157239e-07,2.1796494666485334e-05,-8.08258016724422e-05,6.927286487656504e-05,-3.137516687704167e-07,3.3895167051459816e-07,3.900847311994311e-08,1.0129219430461507e-09,3.692750875927538e-08,-3.944124632408489e-08,3.8605729941194686e-08,-4.760254949175704e-10,2.8768521351427922e-08,-4.127061260148481e-08,-1.160971776526096e-12,-2.6489514518027727e-11,1.2725345027285935e-14,3.503498284361179e-10,-1.535678285410646e-11,1.1609445023519401e-12],"joint_position_rad":[-2.019904430536695,-1.601482278443393,1.3356173230601982,-1.3049336549814616,-1.5707962552735277,-0.4491080130023138],"joint_velocity_rad_s":[7.194310781157239e-07,2.1796494666485334e-05,-8.08258016724422e-05,6.927286487656504e-05,-3.137516687704167e-07,3.3895167051459816e-07],"linkage_position_rad":[0.00293360352040974,0.00015630139689796802,0.003193472187274886,-0.003429291148407157,0.002933603485602671,0.00015630118872299838,0.0031978440064491386,-0.003437988724157413],"tcp_position_m":[0.08125538758500384,0.47723561241866386,0.4349957695415634],"tcp_quaternion_wxyz":[-4.105320551140593e-07,0.7071068132673088,0.7071067491048615,1.0660276593697594e-06],"object_position_m":[0.08123550790152742,0.4777356024517578,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0078208577141287e-11,8.800014453126961e-13,1.0484557000932238e-06],"object_linear_velocity_m_s":[-1.160971776526096e-12,-2.6489514518027727e-11,1.2725345027285935e-14],"object_angular_velocity_rad_s":[3.503498606371625e-10,-1.5356048201476765e-11,1.1609445023519811e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513265547188,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042725157716,-1.6109718535006654,1.3254581618455539,-1.3097465417231642,-1.5707950992478994,-0.44910794588944647,0.0],"actuator_force":[2.8269415452086832e-05,-18.987868712411,-20.285992108619666,-2.4133706573389873,0.0006093879810578073,-3.3873340044010547e-07,-0.29336073837163584],"issued_joint_targets_rad":[-2.0199042716187265,-1.6014778879141613,1.335601350782018,-1.3049198689909407,-1.5707963186976663,-0.44910794498062834],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.019999999998223,"joint_targets_rad":[-2.0199042716187265,-1.6014778879141613,1.335601350782018,-1.3049198689909407,-1.5707963186976663,-0.44910794498062834],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.039999999998212,"qpos":[-2.019904416701693,-1.6014818637488148,1.3356157881450075,-1.30493233877817,-1.570796261309178,-0.44910800648669413,0.0029336042633246345,0.00015630141786701483,0.0031934728869597645,-0.003429291903033715,0.0029336042196140936,0.00015630117794936804,0.0031978445355637744,-0.003437989514732135,0.08123550790150054,0.4777356024511446,0.2998922445797833,0.99999999999945,-2.0536717532009188e-11,9.000821748364045e-13,1.0484557217840243e-06],"qvel":[6.613138093269762e-07,1.977762433371119e-05,-7.31208097603223e-05,6.272268525555292e-05,-2.877020907304173e-07,3.106478008490742e-07,3.5227486163212136e-08,9.155571726065092e-10,3.33470974617832e-08,-3.561654878173985e-08,3.4863231314212295e-08,-4.3158104547970005e-10,2.5961473193013595e-08,-3.727506778712677e-08,-1.3262965354459687e-12,-3.026218902932975e-11,1.2722569469724372e-14,1.3157922684939604e-11,-5.777690835193894e-13,2.1195904978517067e-12],"joint_position_rad":[-2.019904416701693,-1.6014818637488148,1.3356157881450075,-1.30493233877817,-1.570796261309178,-0.44910800648669413],"joint_velocity_rad_s":[6.613138093269762e-07,1.977762433371119e-05,-7.31208097603223e-05,6.272268525555292e-05,-2.877020907304173e-07,3.106478008490742e-07],"linkage_position_rad":[0.0029336042633246345,0.00015630141786701483,0.0031934728869597645,-0.003429291903033715,0.0029336042196140936,0.00015630117794936804,0.0031978445355637744,-0.003437989514732135],"tcp_position_m":[0.08125538699789227,0.47723562246807033,0.43499617904852206],"tcp_quaternion_wxyz":[-3.753473861207424e-07,0.707106810679597,0.7071067516927252,9.745211077329765e-07],"object_position_m":[0.08123550790150054,0.4777356024511446,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0536717532009188e-11,9.000821748364045e-13,1.0484557217840243e-06],"object_linear_velocity_m_s":[-1.3262965354459687e-12,-3.026218902932975e-11,1.2722569469724372e-14],"object_angular_velocity_rad_s":[1.3157923896445086e-11,-5.777414924324083e-13,2.119590497851749e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351326123799,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042716184517,-1.6109718511690725,1.3254581509565364,-1.309746527220219,-1.5707951001091136,-0.4491079449780166,0.0],"actuator_force":[2.5640958938311087e-05,-18.98788589024889,-20.286026053037858,-2.4133664895500715,0.0006093702411362756,-3.104412940047041e-07,-0.29336077460052373],"issued_joint_targets_rad":[-2.019904270805869,-1.6014778804539682,1.3356013382990226,-1.30491985645365,-1.5707963194596528,-0.44910794415464955],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.039999999998212,"joint_targets_rad":[-2.019904270805869,-1.6014778804539682,1.3356013382990226,-1.30491985645365,-1.5707963194596528,-0.44910794415464955],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.059999999998201,"qpos":[-2.019904403986577,-1.6014814874691894,1.3356143995493523,-1.3049311470309801,-1.570796266842842,-0.44910800051602834,0.002933604934236083,0.00015630143682198063,0.003193473518803199,-0.0034292925844948787,0.0029336048824722093,0.00015630116818440506,0.0031978450130067306,-0.0034379902287787777,0.08123550790147455,0.4777356024505517,0.2998922445797833,0.99999999999945,-2.005120257253309e-11,8.78784146988523e-13,1.0484557445028176e-06],"qvel":[6.077645708931119e-07,1.7945400239287847e-05,-6.615043088104765e-05,5.6791797219041195e-05,-2.6377376840078925e-07,2.8466351576598667e-07,3.1812928051959316e-08,8.274928716698239e-10,3.01137463287027e-08,-3.216317463465259e-08,3.148348832073274e-08,-3.9127355154744077e-10,2.3428245478776074e-08,-3.3665944203876126e-08,-1.5724859186630925e-12,-3.588063670933181e-11,1.2729508363628279e-14,-5.1442925943753e-10,2.2543316528362313e-11,3.869829956228477e-12],"joint_position_rad":[-2.019904403986577,-1.6014814874691894,1.3356143995493523,-1.3049311470309801,-1.570796266842842,-0.44910800051602834],"joint_velocity_rad_s":[6.077645708931119e-07,1.7945400239287847e-05,-6.615043088104765e-05,5.6791797219041195e-05,-2.6377376840078925e-07,2.8466351576598667e-07],"linkage_position_rad":[0.002933604934236083,0.00015630143682198063,0.003193473518803199,-0.0034292925844948787,0.0029336048824722093,0.00015630116818440506,0.0031978450130067306,-0.0034379902287787777],"tcp_position_m":[0.08125538640777492,0.477235631607086,0.43499654889711425],"tcp_quaternion_wxyz":[-3.4313054409447826e-07,0.7071068082951413,0.7071067540773079,8.907439285723522e-07],"object_position_m":[0.08123550790147455,0.4777356024505517,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.005120257253309e-11,8.78784146988523e-13,1.0484557445028176e-06],"object_linear_velocity_m_s":[-1.5724859186630925e-12,-3.588063670933181e-11,1.2729508363628279e-14],"object_angular_velocity_rad_s":[-5.144293067077312e-10,2.254223781584353e-11,3.869829956228599e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513257349987,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904270805645,-1.610971849080817,1.3254581410988726,-1.3097465140855398,-1.570795100889516,-0.4491079441522622,0.0],"actuator_force":[2.3256036001839675e-05,-18.987901383350618,-20.286056728607036,-2.4133627070017383,0.0006093540397387187,-2.8446851274566143e-07,-0.2933608073174965],"issued_joint_targets_rad":[-2.019904270069575,-1.601477873701537,1.3356013270006675,-1.3049198451050021,-1.570796320149943,-0.44910794340631316],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.059999999998201,"joint_targets_rad":[-2.019904270069575,-1.601477873701537,1.3356013270006675,-1.3049198451050021,-1.570796320149943,-0.44910794340631316],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.07999999999819,"qpos":[-2.0199043923030766,-1.6014811460525609,1.3356131433228933,-1.3049300679730045,-1.5707962719154913,-0.44910799504556176,0.0029336055401223164,0.00015630145395660944,0.003193474089382788,-0.0034292931998859627,0.002933605481074039,0.0001563011593335746,0.0031978454438225624,-0.00343799087370389,0.08123550790144997,0.4777356024499912,0.2998922445797833,0.99999999999945,-1.8277107325223824e-11,8.010097540432966e-13,1.0484557662186504e-06],"qvel":[5.584379954219864e-07,1.62826028981497e-05,-5.984461514369799e-05,5.1421656309136515e-05,-2.417984342906804e-07,2.608134481043525e-07,2.872934443624904e-08,7.479544470620443e-10,2.7194014832132043e-08,-2.904397519501093e-08,2.8431388634155207e-08,-3.5472057213549563e-10,2.114218951437175e-08,-3.0406513282143805e-08,-1.9732548162043166e-12,-4.502777476620097e-11,1.2732283921189842e-14,-1.3000939387761916e-09,5.697047696991387e-11,7.065344124907031e-12],"joint_position_rad":[-2.0199043923030766,-1.6014811460525609,1.3356131433228933,-1.3049300679730045,-1.5707962719154913,-0.44910799504556176],"joint_velocity_rad_s":[5.584379954219864e-07,1.62826028981497e-05,-5.984461514369799e-05,5.1421656309136515e-05,-2.417984342906804e-07,2.608134481043525e-07],"linkage_position_rad":[0.0029336055401223164,0.00015630145395660944,0.003193474089382788,-0.0034292931998859627,0.002933605481074039,0.0001563011593335746,0.0031978454438225624,-0.00343799087370389],"tcp_position_m":[0.08125538582014431,0.4772356399175452,0.4349968829298019],"tcp_quaternion_wxyz":[-3.136363964374722e-07,0.7071068060985587,0.7071067562739969,8.140569577125595e-07],"object_position_m":[0.08123550790144997,0.4777356024499912,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8277107325223824e-11,8.010097540432966e-13,1.0484557662186504e-06],"object_linear_velocity_m_s":[-1.9732548162043166e-12,-4.502777476620097e-11,1.2732283921189842e-14],"object_angular_velocity_rad_s":[-1.3000940582353714e-09,5.696775078807338e-11,7.065344124907341e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513253842039,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042700693917,-1.6109718472104981,1.325458132174738,-1.3097465021900376,-1.5707951015966883,-0.4491079434041312,0.0],"actuator_force":[2.1092171664349735e-05,-18.98791535703367,-20.28608445025293,-2.4133592741474104,0.000609339244988405,-2.6062949132210633e-07,-0.29336083686348313],"issued_joint_targets_rad":[-2.0199042694026343,-1.6014778675896335,1.3356013167744083,-1.3049198348322766,-1.5707963207752818,-0.44910794272832205],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.07999999999819,"joint_targets_rad":[-2.0199042694026343,-1.6014778675896335,1.3356013167744083,-1.3049198348322766,-1.5707963207752818,-0.44910794272832205],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.099999999998179,"qpos":[-2.019904381569625,-1.601480836274715,1.335612006845531,-1.3049290909497433,-1.5707962765648367,-0.4491079900341267,0.002933606087285559,0.000156301469445589,0.0031934746046387765,-0.003429293755611463,0.0029336060216484023,0.00015630115131153296,0.0031978458325635658,-0.003437991456201649,0.08123550790142472,0.47773560244941593,0.2998922445797833,0.99999999999945,-1.7350885289684674e-11,7.603902903673104e-13,1.0484557930191834e-06],"qvel":[5.130133047552825e-07,1.477359765469518e-05,-5.4139993225089235e-05,4.655925183427783e-05,-2.2162067814230534e-07,2.389265266889074e-07,2.5944640922477933e-08,6.760299726988317e-10,2.455726310599691e-08,-2.6227684753600707e-08,2.567516176841289e-08,-3.215861672374654e-10,1.9079173598843103e-08,-2.7462542025681134e-08,-9.32519100191213e-13,-2.127898372379202e-11,1.2729508363628279e-14,6.812057209542195e-10,-2.9854910359358565e-11,7.65472043235962e-13],"joint_position_rad":[-2.019904381569625,-1.601480836274715,1.335612006845531,-1.3049290909497433,-1.5707962765648367,-0.4491079900341267],"joint_velocity_rad_s":[5.130133047552825e-07,1.477359765469518e-05,-5.4139993225089235e-05,4.655925183427783e-05,-2.2162067814230534e-07,2.389265266889074e-07],"linkage_position_rad":[0.002933606087285559,0.000156301469445589,0.0031934746046387765,-0.003429293755611463,0.0029336060216484023,0.00015630115131153296,0.0031978458325635658,-0.003437991456201649],"tcp_position_m":[0.08125538523951595,0.47723564747399516,0.43499718461658043],"tcp_quaternion_wxyz":[-2.86639481093614e-07,0.7071068040755675,0.7071067582970769,7.438723601847599e-07],"object_position_m":[0.08123550790142472,0.47773560244941593,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7350885289684674e-11,7.603902903673104e-13,1.0484557930191834e-06],"object_linear_velocity_m_s":[-9.32519100191213e-13,-2.127898372379202e-11,1.2729508363628279e-14],"object_angular_velocity_rad_s":[6.812057835558299e-10,-2.9853481931097606e-11,7.654720432359904e-13],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513250676983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042694024847,-1.6109718455353763,1.3254581240956143,-1.309746491416805,-1.5707951022375002,-0.4491079427263281,0.0],"actuator_force":[1.9128959138470236e-05,-18.98792796038424,-20.286109502543695,-2.4133561587143504,0.0006093257360362259,-2.3875335841694323e-07,-0.2933608635457115],"issued_joint_targets_rad":[-2.019904268798516,-1.6014778620574266,1.335601307518415,-1.3049198255334467,-1.570796321341779,-0.44910794211406463],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.099999999998179,"joint_targets_rad":[-2.019904268798516,-1.6014778620574266,1.335601307518415,-1.3049198255334467,-1.570796321341779,-0.44910794211406463],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.119999999998168,"qpos":[-2.019904371710874,-1.6014805552090121,1.3356109787005443,-1.304928206313937,-1.5707962808255782,-0.4491079854438646,0.0029336065814175296,0.00015630148344718785,0.0031934750699352857,-0.003429294257458445,0.002933606509820585,0.00015630114404060016,0.0031978461833381995,-0.0034379919823146633,0.08123550790139779,0.4777356024488016,0.2998922445797833,0.99999999999945,-1.839588561487966e-11,8.061571230052619e-13,1.048455831663181e-06],"qvel":[4.711927509173426e-07,1.3404189236431098e-05,-4.897923918095754e-05,4.215658387382404e-05,-2.0309702247328446e-07,2.18844930147459e-07,2.342987687788126e-08,6.110603041711029e-10,2.2176308850286072e-08,-2.3684157484121313e-08,2.3186149460906107e-08,-2.9155641842700424e-10,1.7217366846486583e-08,-2.480392779604476e-08,-1.0095600711974043e-12,-2.3037852483146127e-11,1.2725345027285934e-14,5.620837821851636e-10,-2.46339427633616e-11,1.397556087897472e-12],"joint_position_rad":[-2.019904371710874,-1.6014805552090121,1.3356109787005443,-1.304928206313937,-1.5707962808255782,-0.4491079854438646],"joint_velocity_rad_s":[4.711927509173426e-07,1.3404189236431098e-05,-4.897923918095754e-05,4.215658387382404e-05,-2.0309702247328446e-07,2.18844930147459e-07],"linkage_position_rad":[0.0029336065814175296,0.00015630148344718785,0.0031934750699352857,-0.003429294257458445,0.002933606509820585,0.00015630114404060016,0.0031978461833381995,-0.0034379919823146633],"tcp_position_m":[0.08125538466955898,0.4772356543443364,0.4349974570911018],"tcp_quaternion_wxyz":[-2.619324931337235e-07,0.7071068022129149,0.7071067601598039,6.796496814065503e-07],"object_position_m":[0.08123550790139779,0.4777356024488016,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.839588561487966e-11,8.061571230052619e-13,1.048455831663181e-06],"object_linear_velocity_m_s":[-1.0095600711974043e-12,-2.3037852483146127e-11,1.2725345027285934e-14],"object_angular_velocity_rad_s":[5.620838338391316e-10,-2.4632764123217376e-11,1.3975560878975198e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513247821342,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042687983932,-1.6109718440350904,1.3254581167813964,-1.309746481659966,-1.5707951028181777,-0.4491079421122427,0.0],"actuator_force":[1.7347861103189643e-05,-18.98793932785111,-20.286132142623956,-2.413353331401936,0.000609313402492262,-2.1868206090402964e-07,-0.29336088764203744],"issued_joint_targets_rad":[-2.0199042682513015,-1.6014778570498747,1.335601299140549,-1.304919817116167,-1.5707963218549714,-0.44910794155755107],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.119999999998168,"joint_targets_rad":[-2.0199042682513015,-1.6014778570498747,1.335601299140549,-1.304919817116167,-1.5707963218549714,-0.44910794155755107],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.139999999998157,"qpos":[-2.019904362657248,-1.6014803001989852,1.335610048559828,-1.3049274053303586,-1.5707962847296388,-0.44910798123996826,0.002933607027658448,0.00015630149610415973,0.0031934754901170757,-0.003429294710648317,0.0029336069506707414,0.00015630113745064613,0.003197846499854092,-0.003437992457502171,0.08123550790137157,0.4777356024482033,0.2998922445797833,0.99999999999945,-1.9121693689411635e-11,8.379261681072139e-13,1.0484558751369639e-06],"qvel":[4.3270010771949977e-07,1.216148960274732e-05,-4.4310494037836974e-05,3.817018970614065e-05,-1.8609505380088946e-07,2.0042311016398462e-07,2.1158880980938876e-08,5.522978338210279e-10,2.002608087145151e-08,-2.1387690064025185e-08,2.0938447837631026e-08,-2.6430460486614894e-10,1.5537324379625367e-08,-2.240233735880598e-08,-1.1078161708742996e-12,-2.5281251219371246e-11,1.2726732806066714e-14,3.557313548082504e-10,-1.5590736292402352e-11,2.5515699236023206e-12],"joint_position_rad":[-2.019904362657248,-1.6014803001989852,1.335610048559828,-1.3049274053303586,-1.5707962847296388,-0.44910798123996826],"joint_velocity_rad_s":[4.3270010771949977e-07,1.216148960274732e-05,-4.4310494037836974e-05,3.817018970614065e-05,-1.8609505380088946e-07,2.0042311016398462e-07],"linkage_position_rad":[0.002933607027658448,0.00015630149610415973,0.0031934754901170757,-0.003429294710648317,0.0029336069506707414,0.00015630113745064613,0.003197846499854092,-0.003437992457502171],"tcp_position_m":[0.08125538411321453,0.4772356605904105,0.4349977031832898],"tcp_quaternion_wxyz":[-2.3932488013654364e-07,0.7071068004983094,0.7071067618744713,6.208921826535222e-07],"object_position_m":[0.08123550790137157,0.4777356024482033,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9121693689411635e-11,8.379261681072139e-13,1.0484558751369639e-06],"object_linear_velocity_m_s":[-1.1078161708742996e-12,-2.5281251219371246e-11,1.2726732806066714e-14],"object_angular_velocity_rad_s":[3.5573138749987044e-10,-1.5589990355012644e-11,2.5515699236023937e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513245244845,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042682512016,-1.6109718426914073,1.325458110159593,-1.3097464728236363,-1.5707951033443632,-0.4491079415558865,0.0],"actuator_force":[1.5732050087535754e-05,-18.987949580684926,-20.2861526028546,-2.4133507656094935,0.0006093021430615408,-2.0027013647450076e-07,-0.2933609094031036],"issued_joint_targets_rad":[-2.0199042677556336,-1.6014778525171756,1.3356012915574367,-1.30491980949685,-1.5707963223198735,-0.44910794105335344],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.139999999998157,"joint_targets_rad":[-2.0199042677556336,-1.6014778525171756,1.3356012915574367,-1.30491980949685,-1.5707963223198735,-0.44910794105335344],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.159999999998146,"qpos":[-2.019904354344523,-1.6014800688334545,1.335609207080075,-1.3049266800896004,-1.5707962883063797,-0.4491079773904443,0.002933607430650421,0.00015630150754580255,0.0031934758695585943,-0.0034292951199023257,0.0029336073487866363,0.00015630113147785862,0.0031978467854568058,-0.003437992886693702,0.08123550790134615,0.47773560244762314,0.2998922445797833,0.99999999999945,-1.933965659451053e-11,8.474431687626647e-13,1.04845592280988e-06],"qvel":[3.972792455781869e-07,1.1033797861922117e-05,-4.008684437371722e-05,3.45607149939674e-05,-1.7049260081940037e-07,1.835268907164159e-07,1.9108045416661895e-08,4.992350152892201e-10,1.8084536177558104e-08,-1.9313633675715725e-08,1.8908677629008808e-08,-2.3960761070263587e-10,1.4021196476784837e-08,-2.0233410266616923e-08,-1.2490620395718785e-12,-2.85058793635247e-11,1.273228392118984e-14,2.7073989287647782e-11,-1.1891604693570282e-12,4.6585223303613444e-12],"joint_position_rad":[-2.019904354344523,-1.6014800688334545,1.335609207080075,-1.3049266800896004,-1.5707962883063797,-0.4491079773904443],"joint_velocity_rad_s":[3.972792455781869e-07,1.1033797861922117e-05,-4.008684437371722e-05,3.45607149939674e-05,-1.7049260081940037e-07,1.835268907164159e-07],"linkage_position_rad":[0.002933607430650421,0.00015630150754580255,0.0031934758695585943,-0.0034292951199023257,0.0029336073487866363,0.00015630113147785862,0.0031978467854568058,-0.003437992886693702],"tcp_position_m":[0.08125538357279646,0.47723566626853325,0.4349979254487921],"tcp_quaternion_wxyz":[-2.186415389729788e-07,0.7071067989203572,0.7071067634524759,5.671434386418038e-07],"object_position_m":[0.08123550790134615,0.47773560244762314,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.933965659451053e-11,8.474431687626647e-13,1.04845592280988e-06],"object_linear_velocity_m_s":[-1.2490620395718785e-12,-2.85058793635247e-11,1.273228392118984e-14],"object_angular_velocity_rad_s":[2.7073991781160813e-11,-1.1891036974053791e-12,4.658522330361449e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513242920249,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904267755552,-1.6109718414880008,1.3254581041645968,-1.309746464820977,-1.5707951038211692,-0.4491079410518329,0.0],"actuator_force":[1.4266243852034677e-05,-18.987958828237424,-20.286171093206576,-2.413348437187551,0.0006092918654303503,-1.8338337781642622e-07,-0.2933609290554681],"issued_joint_targets_rad":[-2.019904267306656,-1.601477848414262,1.335601284693632,-1.3049198025998374,-1.5707963227410289,-0.4491079405965544],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.159999999998146,"joint_targets_rad":[-2.019904267306656,-1.601477848414262,1.335601284693632,-1.3049198025998374,-1.5707963227410289,-0.4491079405965544],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.179999999998135,"qpos":[-2.0199043467134334,-1.6014798589239323,1.3356084458088624,-1.3049260234300135,-1.5707962915827962,-0.4491079738658923,0.002933607794585684,0.00015630151788879553,0.0031934762122109157,-0.0034292954894771504,0.0029336077083113553,0.0001563011260644269,0.003197847043165752,-0.00343799327434068,0.08123550790132035,0.47773560244703456,0.2998922445797833,0.99999999999945,-1.9931891051942353e-11,8.733798722397755e-13,1.048455980534458e-06],"qvel":[3.6469280165675416e-07,1.0010491232973656e-05,-3.626585062889251e-05,3.1292525480849045e-05,-1.5617701145800056e-07,1.680326143513136e-07,1.7256006096726783e-08,4.51237576230968e-10,1.633113488999324e-08,-1.7440861202254252e-08,1.7075691044761467e-08,-2.1722705024427703e-10,1.2652957823557305e-08,-1.827467303355154e-08,-1.4953733921411097e-12,-3.412750358063603e-11,1.2728120584847494e-14,-4.4399516447262034e-10,1.945489086286068e-11,8.50531935425527e-12],"joint_position_rad":[-2.0199043467134334,-1.6014798589239323,1.3356084458088624,-1.3049260234300135,-1.5707962915827962,-0.4491079738658923],"joint_velocity_rad_s":[3.6469280165675416e-07,1.0010491232973656e-05,-3.626585062889251e-05,3.1292525480849045e-05,-1.5617701145800056e-07,1.680326143513136e-07],"linkage_position_rad":[0.002933607794585684,0.00015630151788879553,0.0031934762122109157,-0.0034292954894771504,0.0029336077083113553,0.0001563011260644269,0.003197847043165752,-0.00343799327434068],"tcp_position_m":[0.08125538305007984,0.477235671429983,0.43499812619557704],"tcp_quaternion_wxyz":[-1.9972161107804129e-07,0.7071067974684999,0.7071067649043761,5.179841894047035e-07],"object_position_m":[0.08123550790132035,0.47773560244703456,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9931891051942353e-11,8.733798722397755e-13,1.048455980534458e-06],"object_linear_velocity_m_s":[-1.4953733921411097e-12,-3.412750358063603e-11,1.2728120584847494e-14],"object_angular_velocity_rad_s":[-4.439952052668224e-10,1.945395984438591e-11,8.50531935425529e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513240822868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042673065892,-1.6109718404102478,1.3254580987370286,-1.3097464575733422,-1.570795104253229,-0.44910794059516557,0.0],"actuator_force":[1.2936567600263515e-05,-18.98796716912375,-20.28618780341594,-2.413346324212398,0.0006092824846746225,-1.678980936503649e-07,-0.2933609468033377],"issued_joint_targets_rad":[-2.019904266899972,-1.6014778447003493,1.3356012784808584,-1.3049197963566457,-1.570796323122553,-0.4491079401827],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.179999999998135,"joint_targets_rad":[-2.019904266899972,-1.6014778447003493,1.3356012784808584,-1.3049197963566457,-1.570796323122553,-0.4491079401827],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.199999999998123,"qpos":[-2.0199043397093117,-1.6014796684840997,1.3356077570996931,-1.3049254288670222,-1.5707962945837073,-0.4491079706393002,0.0029336081232501587,0.0001563015272387268,0.003193476521641342,-0.0034292958232240594,0.002933608032986372,0.00015630112115811215,0.0031978472757048866,-0.0034379936244685115,0.08123550790129537,0.4777356024464644,0.2998922445797833,0.99999999999945,-1.9002473549030018e-11,8.326486472626607e-13,1.0484560373838623e-06],"qvel":[3.347209024115478e-07,9.081925960628692e-06,-3.280912042457187e-05,2.833335540270117e-05,-1.4304440241337621e-07,1.5382634682799369e-07,1.5583519161969453e-08,4.0787671041940654e-10,1.4747829951448564e-08,-1.5749689807525063e-08,1.5420435632954596e-08,-1.969163236748968e-10,1.1418315865471742e-08,-1.650547761378128e-08,-1.8871333753824755e-12,-4.3069031980914193e-11,1.2732283921189838e-14,-1.1561389405236512e-09,5.0659141503815294e-11,1.5528549381891394e-11],"joint_position_rad":[-2.0199043397093117,-1.6014796684840997,1.3356077570996931,-1.3049254288670222,-1.5707962945837073,-0.4491079706393002],"joint_velocity_rad_s":[3.347209024115478e-07,9.081925960628692e-06,-3.280912042457187e-05,2.833335540270117e-05,-1.4304440241337621e-07,1.5382634682799369e-07],"linkage_position_rad":[0.0029336081232501587,0.0001563015272387268,0.003193476521641342,-0.0034292958232240594,0.002933608032986372,0.00015630112115811215,0.0031978472757048866,-0.0034379936244685115],"tcp_position_m":[0.08125538254638388,0.4772356761214484,0.43499830750794827],"tcp_quaternion_wxyz":[-1.8241736177357756e-07,0.7071067961329607,0.7071067662399517,4.730294198748208e-07],"object_position_m":[0.08123550790129537,0.4777356024464644,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9002473549030018e-11,8.326486472626607e-13,1.0484560373838623e-06],"object_linear_velocity_m_s":[-1.8871333753824755e-12,-4.3069031980914193e-11,1.2732283921189838e-14],"object_angular_velocity_rad_s":[-1.1561390467488483e-09,5.065671718258955e-11,1.5528549381891446e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513238930539,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904266899917,-1.6109718394450485,1.3254580938231408,-1.3097464510095052,-1.570795104644741,-0.44910794018143163,0.0],"actuator_force":[1.1730428013834171e-05,-18.987974692282023,-20.286202904934726,-2.4133444067816754,0.0006092739233736211,-1.5370036976491974e-07,-0.29336096283160046],"issued_joint_targets_rad":[-2.019904266531597,-1.6014778413385338,1.3356012728573348,-1.3049197907052887,-1.570796323468175,-0.449107939807752],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.199999999998123,"joint_targets_rad":[-2.019904266531597,-1.6014778413385338,1.3356012728573348,-1.3049197907052887,-1.570796323468175,-0.449107939807752],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.219999999998112,"qpos":[-2.0199043332817412,-1.601479495711171,1.3356071340351403,-1.3049248905291209,-1.5707962973319205,-0.44910796768585654,0.002933608420062818,0.0001563015356909454,0.0031934768010718757,-0.0034292961246142786,0.002933608326190449,0.00015630111671137843,0.003197847485532912,-0.0034379939407066535,0.0812355079012706,0.47773560244589947,0.2998922445797833,0.99999999999945,-1.7416680130459584e-11,7.631564897360002e-13,1.0484560962873472e-06],"qvel":[3.0715998152409956e-07,8.239347284462854e-06,-2.9681922503559398e-05,2.5653989081181415e-05,-1.3099905149827705e-07,1.4080316757979245e-07,1.4073157982476902e-08,3.686653592738815e-10,1.3318059197364936e-08,-1.4222553024979797e-08,1.3925659633321327e-08,-1.7851951137202386e-10,1.0304093980978084e-08,-1.4907670295772905e-08,-9.312012551144632e-13,-2.1252258634655235e-11,1.272673280606671e-14,7.061134035312006e-10,-3.094112219177699e-11,1.6823905165205184e-12],"joint_position_rad":[-2.0199043332817412,-1.601479495711171,1.3356071340351403,-1.3049248905291209,-1.5707962973319205,-0.44910796768585654],"joint_velocity_rad_s":[3.0715998152409956e-07,8.239347284462854e-06,-2.9681922503559398e-05,2.5653989081181415e-05,-1.3099905149827705e-07,1.4080316757979245e-07],"linkage_position_rad":[0.002933608420062818,0.0001563015356909454,0.0031934768010718757,-0.0034292961246142786,0.002933608326190449,0.00015630111671137843,0.003197847485532912,-0.0034379939407066535],"tcp_position_m":[0.0812553820626346,0.477235680385433,0.4349984712682293],"tcp_quaternion_wxyz":[-1.6659314872333418e-07,0.7071067949046874,0.7071067674682552,4.319256587068633e-07],"object_position_m":[0.0812355079012706,0.47773560244589947,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7416680130459584e-11,7.631564897360002e-13,1.0484560962873472e-06],"object_linear_velocity_m_s":[-9.312012551144632e-13,-2.1252258634655235e-11,1.272673280606671e-14],"object_angular_velocity_rad_s":[7.061134684104667e-10,-3.093964153384514e-11,1.6823905165205244e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513237223192,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042665315528,-1.6109718385806744,1.3254580893742913,-1.3097464450649607,-1.5707951049995097,-0.44910793980659375,0.0],"actuator_force":[1.063638410414569e-05,-18.987981477920584,-20.28621655269626,-2.4133426668280435,0.0006092661104730723,-1.40685358474002e-07,-0.2933609773067515],"issued_joint_targets_rad":[-2.0199042661979245,-1.6014778382954122,1.3356012677671414,-1.304919785589656,-1.5707963237812732,-0.4491079394680546],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.219999999998112,"joint_targets_rad":[-2.0199042661979245,-1.6014778382954122,1.3356012677671414,-1.304919785589656,-1.5707963237812732,-0.4491079394680546],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.239999999998101,"qpos":[-2.019904327384245,-1.6014793389689723,1.335606570357323,-1.3049244030999174,-1.5707962998483949,-0.44910796498277594,0.0029336086881112246,0.00015630154333169782,0.0031934770534113653,-0.0034292963967865455,0.002933608590974781,0.00015630111268127237,0.003197847674868043,-0.003437994226338472,0.08123550790124275,0.4777356024452639,0.2998922445797833,0.99999999999945,-1.871256107102837e-11,8.199281839469414e-13,1.0484561918988635e-06],"qvel":[2.818216358146307e-07,7.474807737073309e-06,-2.6852837640540595e-05,2.3227972661208852e-05,-1.19952757674524e-07,1.2886645842585024e-07,1.2709225918273473e-08,3.3323757880676105e-10,1.2026886401630524e-08,-1.2843540211904646e-08,1.2575823383622465e-08,-1.6182181221163755e-10,9.298687471724893e-09,-1.3464410563936097e-08,-1.0172948634239504e-12,-2.3217376918502815e-11,1.2726732806066709e-14,6.112701230285569e-10,-2.6785297900922153e-11,3.0716430474731007e-12],"joint_position_rad":[-2.019904327384245,-1.6014793389689723,1.335606570357323,-1.3049244030999174,-1.5707962998483949,-0.44910796498277594],"joint_velocity_rad_s":[2.818216358146307e-07,7.474807737073309e-06,-2.6852837640540595e-05,2.3227972661208852e-05,-1.19952757674524e-07,1.2886645842585024e-07],"linkage_position_rad":[0.0029336086881112246,0.00015630154333169782,0.0031934770534113653,-0.0034292963967865455,0.002933608590974781,0.00015630111268127237,0.003197847674868043,-0.003437994226338472],"tcp_position_m":[0.08125538159943087,0.47723568426062823,0.4349986191763468],"tcp_quaternion_wxyz":[-1.5212446039858257e-07,0.7071067937753044,0.7071067685976637,3.9434847783963905e-07],"object_position_m":[0.08123550790124275,0.4777356024452639,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.871256107102837e-11,8.199281839469414e-13,1.0484561918988635e-06],"object_linear_velocity_m_s":[-1.0172948634239504e-12,-2.3217376918502815e-11,1.2726732806066709e-14],"object_angular_velocity_rad_s":[6.112701791936404e-10,-2.6784016120857468e-11,3.071643047473122e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351323568276,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904266197888,-1.6109718378066138,1.3254580853464422,-1.3097464396812863,-1.5707951053209834,-0.44910793946699706,0.0],"actuator_force":[9.644059446145548e-06,-18.987987598377913,-20.28622888670543,-2.4133410879505846,0.0006092589815125393,-1.287563691221294e-07,-0.29336099037954677],"issued_joint_targets_rad":[-2.0199042658956845,-1.6014778355407586,1.3356012631596774,-1.3049197809589592,-1.5707963240649068,-0.4491079391602934],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.239999999998101,"joint_targets_rad":[-2.0199042658956845,-1.6014778355407586,1.3356012631596774,-1.3049197809589592,-1.5707963240649068,-0.4491079391602934],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.25999999999809,"qpos":[-2.0199043219739896,-1.6014791967725757,1.3356060604050124,-1.30492396176566,-1.5707963021523856,-0.4491079625091376,0.002933608930183603,0.000156301550238921,0.003193477281287287,-0.0034292966425753715,0.0029336088300946947,0.00015630110902865732,0.0031978478457118493,-0.0034379944843236274,0.08123550790121548,0.4777356024446413,0.2998922445797833,0.99999999999945,-1.963942842724329e-11,8.605198652803696e-13,1.048456299947291e-06],"qvel":[2.585316037961336e-07,6.781092833829318e-06,-2.429344267929561e-05,2.1031353052381417e-05,-1.0982426905972392e-07,1.1792729344537972e-07,1.1477500259425337e-08,3.0120664260690257e-10,1.086097747168156e-08,-1.159831842037648e-08,1.1356845219477848e-08,-1.4671223187693788e-10,8.391288728456472e-09,-1.216125797807363e-08,-1.1170190772378866e-12,-2.5494019915362542e-11,1.2732283921189835e-14,4.2805950425201695e-10,-1.8757287581026034e-11,5.608034806858947e-12],"joint_position_rad":[-2.0199043219739896,-1.6014791967725757,1.3356060604050124,-1.30492396176566,-1.5707963021523856,-0.4491079625091376],"joint_velocity_rad_s":[2.585316037961336e-07,6.781092833829318e-06,-2.429344267929561e-05,2.1031353052381417e-05,-1.0982426905972392e-07,1.1792729344537972e-07],"linkage_position_rad":[0.002933608930183603,0.000156301550238921,0.003193477281287287,-0.0034292966425753715,0.0029336088300946947,0.00015630110902865732,0.0031978478457118493,-0.0034379944843236274],"tcp_position_m":[0.08125538115709381,0.4772356877822504,0.43499875276751193],"tcp_quaternion_wxyz":[-1.3889703354299152e-07,0.7071067927370648,0.707106769635924,3.600001819001842e-07],"object_position_m":[0.08123550790121548,0.4777356024446413,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.963942842724329e-11,8.605198652803696e-13,1.048456299947291e-06],"object_linear_velocity_m_s":[-1.1170190772378866e-12,-2.5494019915362542e-11,1.2732283921189835e-14],"object_angular_velocity_rad_s":[4.280595435834779e-10,-1.8756389977396535e-11,5.608034806858983e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513234292908,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042658956547,-1.6109718371134547,1.3254580816997372,-1.3097464348055723,-1.5707951056122853,-0.4491079391593279,0.0],"actuator_force":[8.744028036744567e-06,-18.98799311889161,-20.286240033478407,-2.413339655261325,0.0006092524770338059,-1.1782449860220368e-07,-0.2933610021856423],"issued_joint_targets_rad":[-2.019904265621917,-1.6014778330472137,1.335601258989143,-1.3049197767672258,-1.570796324321849,-0.449107938881468],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.25999999999809,"joint_targets_rad":[-2.019904265621917,-1.6014778330472137,1.335601258989143,-1.3049197767672258,-1.570796324321849,-0.449107938881468],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.27999999999808,"qpos":[-2.0199043170115063,-1.6014790677743482,1.3356055990567348,-1.3049235621677178,-1.5707963042615776,-0.4491079602457367,0.0029336091487979486,0.00015630155648306264,0.003193477487072138,-0.003429296864537021,0.002933609046038436,0.00015630110571833992,0.003197847999870503,-0.0034379947173435203,0.08123550790118896,0.4777356024440354,0.2998922445797833,0.99999999999945,-2.0056096418967712e-11,8.787589830530764e-13,1.0484564193560422e-06],"qvel":[2.371287323863363e-07,6.15165367752682e-06,-2.1978024854762032e-05,1.904244155516269e-05,-1.0053877571535113e-07,1.079038298327176e-07,1.0365198197445344e-08,2.7224887952193954e-10,9.808085390435769e-09,-1.047385180924889e-08,1.0256074317827893e-08,-1.329700626713655e-10,7.57259295211079e-09,-1.0983991169308446e-08,-1.2520220956119017e-12,-2.857590160904642e-11,1.2723957248505142e-14,1.2531725588718032e-10,-5.49197511349519e-12,1.0238775932705186e-11],"joint_position_rad":[-2.0199043170115063,-1.6014790677743482,1.3356055990567348,-1.3049235621677178,-1.5707963042615776,-0.4491079602457367],"joint_velocity_rad_s":[2.371287323863363e-07,6.15165367752682e-06,-2.1978024854762032e-05,1.904244155516269e-05,-1.0053877571535113e-07,1.079038298327176e-07],"linkage_position_rad":[0.0029336091487979486,0.00015630155648306264,0.003193477487072138,-0.003429296864537021,0.002933609046038436,0.00015630110571833992,0.003197847999870503,-0.0034379947173435203],"tcp_position_m":[0.0812553807357114,0.4772356909823519,0.4349988734281892],"tcp_quaternion_wxyz":[-1.268060343705929e-07,0.7071067917828047,0.7071067705902025,3.2860767222985e-07],"object_position_m":[0.08123550790118896,0.4777356024440354,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0056096418967712e-11,8.787589830530764e-13,1.0484564193560422e-06],"object_linear_velocity_m_s":[-1.2520220956119017e-12,-2.857590160904642e-11,1.2723957248505142e-14],"object_angular_velocity_rad_s":[1.2531726740311584e-10,-5.491712333709629e-12,1.023877593270522e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513233038942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042656218924,-1.610971836492763,1.3254580783980934,-1.309746430389899,-1.5707951058762477,-0.44910793888058664,0.0],"actuator_force":[7.927734714030521e-06,-18.987998098300523,-20.286250107340493,-2.4133383552460828,0.0006092465423535032,-1.0780794923448411e-07,-0.2933610128481818],"issued_joint_targets_rad":[-2.0199042653739396,-1.6014778307900177,1.33560125521409,-1.3049197729728415,-1.5707963245546108,-0.449107938628856],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.27999999999808,"joint_targets_rad":[-2.0199042653739396,-1.6014778307900177,1.33560125521409,-1.3049197729728415,-1.5707963245546108,-0.449107938628856],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.299999999998068,"qpos":[-2.019904312460442,-1.601478950751285,1.3356051816793055,-1.304923200359557,-1.5707963061922108,-0.4491079581749475,0.002933609346228122,0.0001563015621278237,0.0031934776729078424,-0.0034292970649829006,0.0029336092410529556,0.00015630110271820432,0.003197848138973949,-0.0034379949278115964,0.08123550790116339,0.4777356024434511,0.2998922445797833,0.99999999999945,-1.9727653751311712e-11,8.64358403520872e-13,1.0484565462267979e-06],"qvel":[2.1746407327919293e-07,5.58054567318449e-06,-1.988332326135237e-05,1.7241599827169237e-05,-9.202741281449394e-08,9.87207935946067e-08,9.360722780398918e-09,2.4611139848659994e-10,8.857337578855005e-09,-9.458254458948382e-09,9.262024716407619e-09,-1.2054874613120294e-10,6.833686609585751e-09,-9.920836321160886e-09,-1.4582150783961952e-12,-3.328239917801253e-11,1.2732283921189831e-14,-3.418636774077095e-10,1.4977928443379577e-11,1.869354572954263e-11],"joint_position_rad":[-2.019904312460442,-1.601478950751285,1.3356051816793055,-1.304923200359557,-1.5707963061922108,-0.4491079581749475],"joint_velocity_rad_s":[2.1746407327919293e-07,5.58054567318449e-06,-1.988332326135237e-05,1.7241599827169237e-05,-9.202741281449394e-08,9.87207935946067e-08],"linkage_position_rad":[0.002933609346228122,0.0001563015621278237,0.0031934776729078424,-0.0034292970649829006,0.0029336092410529556,0.00015630110271820432,0.003197848138973949,-0.0034379949278115964],"tcp_position_m":[0.08125538033517986,0.4772356938900999,0.43499898241051455],"tcp_quaternion_wxyz":[-1.1575530278933833e-07,0.7071067909059024,0.7071067714671188,2.999204733277853e-07],"object_position_m":[0.08123550790116339,0.4777356024434511,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9727653751311712e-11,8.64358403520872e-13,1.0484565462267979e-06],"object_linear_velocity_m_s":[-1.4582150783961952e-12,-3.328239917801253e-11,1.2732283921189831e-14],"object_angular_velocity_rad_s":[-3.4186370881433956e-10,1.4977211585663208e-11,1.8693545729542656e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513231907529,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042653739196,-1.610971835936984,1.3254580754088494,-1.309746426390867,-1.5707951061154353,-0.44910793862805154,0.0],"actuator_force":[7.187415121734375e-06,-18.988002589667303,-20.286259211607558,-2.4133371756375936,0.0006092411289273514,-9.863137506727071e-08,-0.2933610224777914],"issued_joint_targets_rad":[-2.0199042651493233,-1.6014778287467586,1.3356012517970026,-1.3049197695381385,-1.570796324765468,-0.44910793839999474],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.299999999998068,"joint_targets_rad":[-2.0199042651493233,-1.6014778287467586,1.3356012517970026,-1.3049197695381385,-1.570796324765468,-0.44910793839999474],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.319999999998057,"qpos":[-2.0199043082873214,-1.6014788445935038,1.335604804081264,-1.3049228727677842,-1.5707963079591967,-0.4491079562805958,0.0029336095245275323,0.00015630156723075663,0.0031934778407288478,-0.0034292972459997032,0.0029336094171673135,0.00015630109999923412,0.003197848264492797,-0.0034379951179111736,0.08123550790113916,0.4777356024428972,0.2998922445797833,0.99999999999945,-1.83077554371776e-11,8.021416944444025e-13,1.0484566711744842e-06],"qvel":[1.9940001168106628e-07,5.062372905723026e-06,-1.7988295043065095e-05,1.561104607507692e-05,-8.422679209176972e-08,9.030893290608035e-08,8.453610606562202e-09,2.2245211315866678e-10,7.998769618586831e-09,-8.541288735500004e-09,8.364344543653448e-09,-1.0927151980475517e-10,6.1669741997669865e-09,-8.96041459639413e-09,-1.796211057838172e-12,-4.099717188899623e-11,1.2728120584847486e-14,-1.0362733796000064e-09,4.540397006395662e-11,3.412987812442488e-11],"joint_position_rad":[-2.0199043082873214,-1.6014788445935038,1.335604804081264,-1.3049228727677842,-1.5707963079591967,-0.4491079562805958],"joint_velocity_rad_s":[1.9940001168106628e-07,5.062372905723026e-06,-1.7988295043065095e-05,1.561104607507692e-05,-8.422679209176972e-08,9.030893290608035e-08],"linkage_position_rad":[0.0029336095245275323,0.00015630156723075663,0.0031934778407288478,-0.0034292972459997032,0.0029336094171673135,0.00015630109999923412,0.003197848264492797,-0.0034379951179111736],"tcp_position_m":[0.08125537995523922,0.477235696532037,0.43499908084531536],"tcp_quaternion_wxyz":[-1.0565665456049654e-07,0.7071067901002424,0.7071067722727908,2.7370891185739857e-07],"object_position_m":[0.08123550790113916,0.4777356024428972,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.83077554371776e-11,8.021416944444025e-13,1.0484566711744842e-06],"object_linear_velocity_m_s":[-1.796211057838172e-12,-4.099717188899623e-11,1.2728120584847486e-14],"object_angular_velocity_rad_s":[-1.0362734748058632e-09,4.5401797089630444e-11,3.412987812442488e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351323088672,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904265149307,-1.610971835439348,1.3254580727024363,-1.3097464227691713,-1.5707951063321737,-0.44910793839926055,0.0],"actuator_force":[6.516024313896196e-06,-18.988006640850926,-20.286267439638323,-2.4133361053010276,0.0006092361907121813,-9.022568292493816e-08,-0.29336103117451806],"issued_joint_targets_rad":[-2.0199042649458674,-1.6014778268971537,1.3356012487039277,-1.3049197664290202,-1.5707963249564818,-0.449107938192651],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.319999999998057,"joint_targets_rad":[-2.0199042649458674,-1.6014778268971537,1.3356012487039277,-1.3049197664290202,-1.5707963249564818,-0.449107938192651],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.339999999998046,"qpos":[-2.0199043044613263,-1.6014787482938053,1.3356044624707557,-1.304922576156867,-1.5707963095762218,-0.449107954547843,0.002933609685550494,0.00015630157184382592,0.003193477992282433,-0.003429297409469358,0.002933609576213814,0.00015630109753506145,0.0031978483777540113,-0.0034379952896145824,0.08123550790111556,0.4777356024423584,0.2998922445797833,0.99999999999945,-1.6529019207206584e-11,7.24206187585178e-13,1.048456800637249e-06],"qvel":[1.8280944927101102e-07,4.592237597983071e-06,-1.6273903843561334e-05,1.413467955716448e-05,-7.707860294998036e-08,8.260458099733345e-08,7.63443071846831e-09,2.0107173295433097e-10,7.223430346890017e-09,-7.713392165436488e-09,7.553695309831553e-09,-9.905554738676987e-11,5.565263819520923e-09,-8.09318837896061e-09,-8.868647792021896e-13,-2.0241973828390995e-11,1.2723957248505141e-14,6.796929763722091e-10,-2.978072437723284e-11,3.6976932976651685e-12],"joint_position_rad":[-2.0199043044613263,-1.6014787482938053,1.3356044624707557,-1.304922576156867,-1.5707963095762218,-0.449107954547843],"joint_velocity_rad_s":[1.8280944927101102e-07,4.592237597983071e-06,-1.6273903843561334e-05,1.413467955716448e-05,-7.707860294998036e-08,8.260458099733345e-08],"linkage_position_rad":[0.002933609685550494,0.00015630157184382592,0.003193477992282433,-0.003429297409469358,0.002933609576213814,0.00015630109753506145,0.0031978483777540113,-0.0034379952896145824],"tcp_position_m":[0.0812553795955009,0.47723569893231277,0.4349991697538691],"tcp_quaternion_wxyz":[-9.642923734712437e-08,0.7071067893601751,0.7071067730128687,2.4976243567560706e-07],"object_position_m":[0.08123550790111556,0.4777356024423584,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6529019207206584e-11,7.24206187585178e-13,1.048456800637249e-06],"object_linear_velocity_m_s":[-8.868647792021896e-13,-2.0241973828390995e-11,1.2723957248505141e-14],"object_angular_velocity_rad_s":[6.796930388183256e-10,-2.9779299119598266e-11,3.697693297665159e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513229965698,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904264945854,-1.610971834993793,1.3254580702520866,-1.3097464194892143,-1.5707951065285697,-0.44910793819198097,0.0],"actuator_force":[5.907164904783713e-06,-18.988010295014647,-20.2862748758007,-2.4133351341292837,0.0006092316863259839,-8.252706606981519e-08,-0.2933610390288455],"issued_joint_targets_rad":[-2.019904264761579,-1.601477825222843,1.3356012459041327,-1.3049197636146213,-1.5707963251295183,-0.449107938004802],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.339999999998046,"joint_targets_rad":[-2.019904264761579,-1.601477825222843,1.3356012459041327,-1.3049197636146213,-1.5707963251295183,-0.449107938004802],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.359999999998035,"qpos":[-2.0199043009540905,-1.6014786609381928,1.3356041534174274,-1.304922307597196,-1.5707963110558474,-0.4491079529630781,0.002933609830971613,0.00015630157601421231,0.00319347812914547,-0.0034292975570959913,0.002933609719847134,0.0001563010953017857,0.0031978484799545016,-0.00343799544470423,0.08123550790108933,0.47773560244175983,0.2998922445797833,0.99999999999945,-1.7583335034353268e-11,7.7038940240872e-13,1.0484570107796283e-06],"qvel":[1.6757503437457126e-07,4.165694246581411e-06,-1.4722928467208428e-05,1.2797921696208566e-05,-7.052920056909828e-08,7.554920846262083e-08,6.894656990698287e-09,1.81738088381804e-10,6.5232339491473266e-09,-6.965605838899342e-09,6.8216359640563815e-09,-8.979637546982691e-11,5.022221999675504e-09,-7.310168269507592e-09,-9.575179047202152e-13,-2.1854887413203584e-11,1.2728120584847486e-14,5.804283855104646e-10,-2.5431693204980798e-11,6.7510936252118735e-12],"joint_position_rad":[-2.0199043009540905,-1.6014786609381928,1.3356041534174274,-1.304922307597196,-1.5707963110558474,-0.4491079529630781],"joint_velocity_rad_s":[1.6757503437457126e-07,4.165694246581411e-06,-1.4722928467208428e-05,1.2797921696208566e-05,-7.052920056909828e-08,7.554920846262083e-08],"linkage_position_rad":[0.002933609830971613,0.00015630157601421231,0.00319347812914547,-0.0034292975570959913,0.002933609719847134,0.0001563010953017857,0.0031978484799545016,-0.00343799544470423],"tcp_position_m":[0.08125537925547227,0.4772357011128992,0.43499925005852313],"tcp_quaternion_wxyz":[-8.799893866522419e-08,0.7071067886804834,0.7071067736925689,2.2788806475301155e-07],"object_position_m":[0.08123550790108933,0.47773560244175983,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7583335034353268e-11,7.7038940240872e-13,1.0484570107796283e-06],"object_linear_velocity_m_s":[-9.575179047202152e-13,-2.1854887413203584e-11,1.2728120584847486e-14],"object_angular_velocity_rad_s":[5.804284388372725e-10,-2.5430476096267367e-11,6.751093625211883e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513229134708,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904264761568,-1.6109718345948854,1.3254580680335664,-1.3097464165187551,-1.5707951067065309,-0.4491079380041906,0.0],"actuator_force":[5.355031134968158e-06,-18.988013591083927,-20.286281596334902,-2.4133342529490847,0.0006092275782521028,-7.547708946731291e-08,-0.2933610461224021],"issued_joint_targets_rad":[-2.0199042645946523,-1.60147782370721,1.3356012433698061,-1.3049197610670056,-1.5707963252862702,-0.44910793783461533],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.359999999998035,"joint_targets_rad":[-2.0199042645946523,-1.60147782370721,1.3356012433698061,-1.3049197610670056,-1.5707963252862702,-0.44910793783461533],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.379999999998024,"qpos":[-2.0199042977395125,-1.601478581697262,1.3356038738179603,-1.304922064436162,-1.5707963124096012,-0.44910795151381766,0.0029336099623030994,0.00015630157978428752,0.0031934782527430197,-0.0034292976904136655,0.00293360984956149,0.00015630109327790934,0.0031978485721748462,-0.003437995584788155,0.0812355079010621,0.477735602441138,0.2998922445797833,0.99999999999945,-1.9348901298547576e-11,8.477244723475392e-13,1.0484572789561787e-06],"qvel":[1.535884557817714e-07,3.778707935357704e-06,-1.3319789745840256e-05,1.1587572168398621e-05,-6.452925587465941e-08,6.90890203367734e-08,6.226607415193228e-09,1.6428416011757478e-10,5.89096570461324e-09,-6.2903495289918625e-09,6.160563590325958e-09,-8.138404277351889e-11,4.53232561537359e-09,-6.6025416592899306e-09,-1.0823739259905116e-12,-2.470522839747286e-11,1.2725345027285921e-14,4.4671147241706914e-10,-1.9572931947325403e-11,1.232581057129136e-11],"joint_position_rad":[-2.0199042977395125,-1.601478581697262,1.3356038738179603,-1.304922064436162,-1.5707963124096012,-0.44910795151381766],"joint_velocity_rad_s":[1.535884557817714e-07,3.778707935357704e-06,-1.3319789745840256e-05,1.1587572168398621e-05,-6.452925587465941e-08,6.90890203367734e-08],"linkage_position_rad":[0.0029336099623030994,0.00015630157978428752,0.0031934782527430197,-0.0034292976904136655,0.00293360984956149,0.00015630109327790934,0.0031978485721748462,-0.003437995584788155],"tcp_position_m":[0.08125537893458135,0.47723570309378355,0.4349993225922781],"tcp_quaternion_wxyz":[-8.029783560139975e-08,0.7071067880563531,0.7071067743167059,2.079089602821597e-07],"object_position_m":[0.0812355079010621,0.477735602441138,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9348901298547576e-11,8.477244723475392e-13,1.0484572789561787e-06],"object_linear_velocity_m_s":[-1.0823739259905116e-12,-2.470522839747286e-11,1.2725345027285921e-14],"object_angular_velocity_rad_s":[4.467115134588735e-10,-1.9571995231015678e-11,1.2325810571291386e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513228384943,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042645946435,-1.6109718342377597,1.3254580660249415,-1.3097464138285964,-1.5707951068677888,-0.4491079378340575,0.0],"actuator_force":[4.854356120631564e-06,-18.988016564168902,-20.286287670139245,-2.413333453433893,0.0006092238318160526,-6.902195082147955e-08,-0.29336105252908445],"issued_joint_targets_rad":[-2.0199042644434524,-1.6014778223352106,1.3356012410757683,-1.3049197587608823,-1.57079632542827,-0.4491079376804311],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.379999999998024,"joint_targets_rad":[-2.0199042644434524,-1.6014778223352106,1.3356012410757683,-1.3049197587608823,-1.57079632542827,-0.4491079376804311],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.399999999998013,"qpos":[-2.019904294793581,-1.6014785098183886,1.3356036208648838,-1.3049218442719686,-1.5707963136480583,-0.44910795018861527,0.0029336100809105718,0.000156301583192552,0.0031934783643609477,-0.0034292978108101647,0.002933609966706199,0.00015630109144375106,0.0031978486553903723,-0.0034379957113151436,0.08123550790103506,0.47773560244052105,0.2998922445797833,0.99999999999945,-2.0346794370065252e-11,8.914252125380096e-13,1.048457577340934e-06],"qvel":[1.407497828878418e-07,3.427616518266471e-06,-1.2050394000497724e-05,1.0491678644800483e-05,-5.903341477135481e-08,6.317458790175841e-08,5.623301696536981e-09,1.4851634757557475e-10,5.320117625691688e-09,-5.6804428939331695e-09,5.5635679052063e-09,-7.378120810493346e-11,4.090156776702249e-09,-5.963403912490681e-09,-1.2325759475606517e-12,-2.813427164175131e-11,1.2726732806066703e-14,1.921817992793065e-10,-8.42124372727474e-12,2.2503914241428127e-11],"joint_position_rad":[-2.019904294793581,-1.6014785098183886,1.3356036208648838,-1.3049218442719686,-1.5707963136480583,-0.44910795018861527],"joint_velocity_rad_s":[1.407497828878418e-07,3.427616518266471e-06,-1.2050394000497724e-05,1.0491678644800483e-05,-5.903341477135481e-08,6.317458790175841e-08],"linkage_position_rad":[0.0029336100809105718,0.000156301583192552,0.0031934783643609477,-0.0034292978108101647,0.002933609966706199,0.00015630109144375106,0.0031978486553903723,-0.0034379957113151436],"tcp_position_m":[0.08125537863219554,0.47723570489314904,0.43499938810745026],"tcp_quaternion_wxyz":[-7.326369157227882e-08,0.7071067874833422,0.7071067748897234,1.8966310862776652e-07],"object_position_m":[0.08123550790103506,0.47773560244052105,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0346794370065252e-11,8.914252125380096e-13,1.048457577340934e-06],"object_linear_velocity_m_s":[-1.2325759475606517e-12,-2.813427164175131e-11,1.2726732806066703e-14],"object_angular_velocity_rad_s":[1.9218181693755754e-10,-8.420840737413092e-12,2.250391424142816e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513227708457,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042644434453,-1.610971833918053,1.3254580642063465,-1.3097464113922925,-1.5707951070139108,-0.44910793767992224,0.0],"actuator_force":[4.400358648126712e-06,-18.988019245935902,-20.286293159474553,-2.4133327280263757,0.0006092204151855185,-6.31122816230345e-08,-0.29336105831518655],"issued_joint_targets_rad":[-2.0199042643064966,-1.6014778210932328,1.3356012389992353,-1.3049197566733604,-1.5707963255569053,-0.449107937540743],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.399999999998013,"joint_targets_rad":[-2.0199042643064966,-1.6014778210932328,1.3356012389992353,-1.3049197566733604,-1.5707963255569053,-0.449107937540743],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.419999999998002,"qpos":[-2.0199042920942105,-1.6014784446186332,1.3356033920183703,-1.3049216449299166,-1.5707963147809192,-0.44910794897697637,0.0029336101880271907,0.00015630158627368966,0.0031934784651607706,-0.0034292979195391145,0.0029336100724996804,0.00015630108978148682,0.003197848730479819,-0.0034379958256016228,0.08123550790100863,0.47773560243991714,0.2998922445797833,0.99999999999945,-2.0447353165813535e-11,8.958110401409326e-13,1.048457898255824e-06],"qvel":[1.289668475723715e-07,3.109096217145405e-06,-1.0901991316901496e-05,9.499418787385375e-06,-5.399998587576835e-08,5.776051441462402e-08,5.07846367595276e-09,1.3422910210769584e-10,4.804446230586319e-09,-5.130158133816707e-09,5.024438625264055e-09,-6.68778584644676e-11,3.691110336722879e-09,-5.3864087980826225e-09,-1.43666535499718e-12,-3.279359696893359e-11,1.2722569469724357e-14,-2.3010492621299495e-10,1.0079058358730284e-11,4.108655875441357e-11],"joint_position_rad":[-2.0199042920942105,-1.6014784446186332,1.3356033920183703,-1.3049216449299166,-1.5707963147809192,-0.44910794897697637],"joint_velocity_rad_s":[1.289668475723715e-07,3.109096217145405e-06,-1.0901991316901496e-05,9.499418787385375e-06,-5.399998587576835e-08,5.776051441462402e-08],"linkage_position_rad":[0.0029336101880271907,0.00015630158627368966,0.0031934784651607706,-0.0034292979195391145,0.0029336100724996804,0.00015630108978148682,0.003197848730479819,-0.0034379958256016228],"tcp_position_m":[0.08125537834763419,0.47723570652753317,0.4349994472834882],"tcp_quaternion_wxyz":[-6.683949159608472e-08,0.7071067869573522,0.7071067754157183,1.730021062012087e-07],"object_position_m":[0.08123550790100863,0.47773560243991714,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0447353165813535e-11,8.958110401409326e-13,1.048457898255824e-06],"object_linear_velocity_m_s":[-1.43666535499718e-12,-3.279359696893359e-11,1.2722569469724357e-14],"object_angular_velocity_rad_s":[-2.3010494734735196e-10,1.007857584973371e-11,4.1086558754413625e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513227098101,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904264306491,-1.6109718336318621,1.325458062559804,-1.3097464091858944,-1.5707951071463169,-0.4491079375402788,0.0],"actuator_force":[3.988700427726144e-06,-18.98802166494488,-20.28629812060626,-2.4133320698676926,0.0006092172997114176,-5.770263555859856e-08,-0.29336106354085506],"issued_joint_targets_rad":[-2.0199042641824443,-1.601477819968951,1.33560123711958,-1.3049197547837177,-1.5707963256734339,-0.4491079374141901],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.419999999998002,"joint_targets_rad":[-2.0199042641824443,-1.601477819968951,1.33560123711958,-1.3049197547837177,-1.5707963256734339,-0.4491079374141901],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.43999999999799,"qpos":[-2.019904289621094,-1.6014783854783035,1.3356031849807144,-1.304921464440938,-1.5707963158170817,-0.4491079478692812,0.0029336102847667086,0.00015630158905924807,0.003193478556191885,-0.003429298017730875,0.0029336101680423484,0.00015630108827504208,0.003197848798237451,-0.003437995928829955,0.08123550790098326,0.4777356024393375,0.2998922445797833,0.99999999999945,-1.9407674735175212e-11,8.502464428908191e-13,1.0484582221190097e-06],"qvel":[1.1815465666918779e-07,2.8201304666055723e-06,-9.863047457612e-06,8.600993459600569e-06,-4.939065587351446e-08,5.280508674482469e-08,4.586452370537511e-09,1.2134593030554363e-10,4.33882075746503e-09,-4.632609081110589e-09,4.537588417465242e-09,-6.061061336703252e-11,3.331087609769088e-09,-4.865188610028685e-09,-1.7525548830611106e-12,-4.0005088346270885e-11,1.2729508363628265e-14,-8.769698622887256e-10,3.8418203771165155e-11,7.501391451502708e-11],"joint_position_rad":[-2.019904289621094,-1.6014783854783035,1.3356031849807144,-1.304921464440938,-1.5707963158170817,-0.4491079478692812],"joint_velocity_rad_s":[1.1815465666918779e-07,2.8201304666055723e-06,-9.863047457612e-06,8.600993459600569e-06,-4.939065587351446e-08,5.280508674482469e-08],"linkage_position_rad":[0.0029336102847667086,0.00015630158905924807,0.003193478556191885,-0.003429298017730875,0.0029336101680423484,0.00015630108827504208,0.003197848798237451,-0.003437995928829955],"tcp_position_m":[0.0812553780801871,0.4772357080119769,0.43499950073403604],"tcp_quaternion_wxyz":[-6.097301382226145e-08,0.7071067864746051,0.7071067758984689,1.5779004518383425e-07],"object_position_m":[0.08123550790098326,0.4777356024393375,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9407674735175212e-11,8.502464428908191e-13,1.0484582221190097e-06],"object_linear_velocity_m_s":[-1.7525548830611106e-12,-4.0005088346270885e-11,1.2729508363628265e-14],"object_angular_velocity_rad_s":[-8.769699428464326e-10,3.841636484146702e-11,7.501391451502712e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322654738,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042641824394,-1.6109718333756855,1.3254580610690332,-1.3097464071877105,-1.5707951072662945,-0.44910793741376664,0.0],"actuator_force":[3.6154469853499904e-06,-18.98802384695091,-20.286302604379216,-2.4133314727322386,0.0006092144591320903,-5.27514032455656e-08,-0.2933610682606568],"issued_joint_targets_rad":[-2.019904264070079,-1.60147781895121,1.3356012354181341,-1.304919753073197,-1.5707963257789954,-0.4491079372995374],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.43999999999799,"joint_targets_rad":[-2.019904264070079,-1.60147781895121,1.3356012354181341,-1.304919753073197,-1.5707963257789954,-0.4491079372995374],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.45999999999798,"qpos":[-2.0199042873555633,-1.601478331835105,1.3356029976732486,-1.3049213010221516,-1.5707963167647045,-0.4491079468567134,0.002933610372134732,0.00015630159157740213,0.003193478638400795,-0.003429298106407847,0.002933610254327781,0.00015630108690990215,0.0031978488593793503,-0.003437996022071441,0.08123550790095962,0.4777356024387977,0.2998922445797833,0.99999999999945,-1.681340649940809e-11,7.365829826747434e-13,1.0484585066646503e-06],"qvel":[1.0823487788935648e-07,2.557981553357707e-06,-8.923127896725783e-06,7.787529979890631e-06,-4.51702212543733e-08,4.827001305457245e-08,4.142115436756385e-09,1.0969291410510829e-10,3.9184206978013994e-09,-4.183778256040676e-09,4.097919991852969e-09,-5.495236018685859e-11,3.0060818452897393e-09,-4.394348707214326e-09,-9.00727409116806e-13,-2.0560631117850946e-11,1.2726732806066701e-14,7.183089966935816e-10,-3.146977160942809e-11,8.127143199839649e-12],"joint_position_rad":[-2.0199042873555633,-1.601478331835105,1.3356029976732486,-1.3049213010221516,-1.5707963167647045,-0.4491079468567134],"joint_velocity_rad_s":[1.0823487788935648e-07,2.557981553357707e-06,-8.923127896725783e-06,7.787529979890631e-06,-4.51702212543733e-08,4.827001305457245e-08],"linkage_position_rad":[0.002933610372134732,0.00015630159157740213,0.003193478638400795,-0.003429298106407847,0.002933610254327781,0.00015630108690990215,0.0031978488593793503,-0.003437996022071441],"tcp_position_m":[0.08125537782912315,0.4772357093601596,0.4349995490133068],"tcp_quaternion_wxyz":[-5.5616435038381197e-08,0.7071067860316175,0.7071067763414601,1.439024820042767e-07],"object_position_m":[0.08123550790095962,0.4777356024387977,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.681340649940809e-11,7.365829826747434e-13,1.0484585066646503e-06],"object_linear_velocity_m_s":[-9.00727409116806e-13,-2.0560631117850946e-11,1.2726732806066701e-14],"object_angular_velocity_rad_s":[7.183090626815134e-10,-3.146826537472959e-11,8.127143199839657e-12],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513226050492,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904264070075,-1.610971833146388,1.3254580597192966,-1.3097464053780965,-1.5707951073750102,-0.4491079372991512,0.0],"actuator_force":[3.2770253710623365e-06,-18.988025815187484,-20.286306656745182,-2.41333093097046,0.000609211869345927,-4.822021537620458e-08,-0.2933610725233028],"issued_joint_targets_rad":[-2.0199042639683005,-1.6014778180299125,1.3356012338779988,-1.3049197515248188,-1.5707963258746214,-0.4491079371956645],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.45999999999798,"joint_targets_rad":[-2.0199042639683005,-1.6014778180299125,1.3356012338779988,-1.3049197515248188,-1.5707963258746214,-0.4491079371956645],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.479999999997968,"qpos":[-2.019904285280458,-1.6014782831788374,1.3356028282154595,-1.3049211530592624,-1.5707963176312674,-0.44910794593119324,0.0029336104510395066,0.00015630159385399362,0.003193478712643209,-0.003429298186490973,0.0029336103322532814,0.0001563010856726899,0.003197848914551358,-0.003437996106292904,0.08123550790093229,0.47773560243817337,0.2998922445797833,0.99999999999945,-1.7981978420497465e-11,7.877877620217679e-13,1.048459026169108e-06],"qvel":[9.9135317542991e-08,2.320164899054737e-06,-8.072792976519728e-06,7.05099455461966e-06,-4.130634709310385e-08,4.412014436868078e-08,3.740842798453846e-09,9.913631965795385e-11,3.5386846063467826e-09,-3.778257654723323e-09,3.700871363067423e-09,-4.97918106454545e-11,2.71294799065412e-09,-3.969191338939905e-09,-9.73098433524369e-13,-2.2212398424568532e-11,1.2732283921189827e-14,6.331492840838126e-10,-2.7738575891912656e-11,1.4838007126803987e-11],"joint_position_rad":[-2.019904285280458,-1.6014782831788374,1.3356028282154595,-1.3049211530592624,-1.5707963176312674,-0.44910794593119324],"joint_velocity_rad_s":[9.9135317542991e-08,2.320164899054737e-06,-8.072792976519728e-06,7.05099455461966e-06,-4.130634709310385e-08,4.412014436868078e-08],"linkage_position_rad":[0.0029336104510395066,0.00015630159385399362,0.003193478712643209,-0.003429298186490973,0.0029336103322532814,0.0001563010856726899,0.003197848914551358,-0.003437996106292904],"tcp_position_m":[0.08125537759370012,0.47723571058452074,0.43499959262184384],"tcp_quaternion_wxyz":[-5.0725969705485854e-08,0.7071067856251793,0.7071067767479012,1.3122549285283782e-07],"object_position_m":[0.08123550790093229,0.47773560243817337,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7981978420497465e-11,7.877877620217679e-13,1.048459026169108e-06],"object_linear_velocity_m_s":[-9.73098433524369e-13,-2.2212398424568532e-11,1.2732283921189827e-14],"object_angular_velocity_rad_s":[6.331493422479641e-10,-2.7737248229154398e-11,1.4838007126803964e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322560217,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042639682974,-1.6109718329411618,1.3254580584972504,-1.3097464037392605,-1.5707951074735205,-0.4491079371953123,0.0],"actuator_force":[2.9701941457460634e-06,-18.988027590608,-20.286310319227596,-2.413330439454512,0.0006092095081839943,-4.407397113936895e-08,-0.2933610763732102],"issued_joint_targets_rad":[-2.019904263876111,-1.601477817195919,1.3356012324838809,-1.3049197501232135,-1.5707963259612474,-0.44910793710155933],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.479999999997968,"joint_targets_rad":[-2.019904263876111,-1.601477817195919,1.3356012324838809,-1.3049197501232135,-1.5707963259612474,-0.44910793710155933],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.499999999997957,"qpos":[-2.0199042833800105,-1.6014782390465745,1.3356026749060936,-1.3049210190906166,-1.5707963184236275,-0.4491079450853184,0.002933610522301183,0.00015630159591209063,0.003193478779691224,-0.0034292982588141527,0.0029336104026291684,0.00015630108455155932,0.003197848964336899,-0.003437996182367416,0.08123550790090561,0.477735602437564,0.2998922445797833,0.99999999999945,-1.889605406446712e-11,8.278159737481389e-13,1.0484596155835989e-06],"qvel":[9.07894709807055e-08,2.104425697153461e-06,-7.303503007666086e-06,6.384112950174616e-06,-3.7769340666198886e-08,4.0323205372278986e-08,3.378461772587422e-09,8.962939948453318e-11,3.1958046739605796e-09,-3.4120917113632986e-09,3.3423087215371496e-09,-4.515164735414169e-11,2.4482206605639652e-09,-3.5851656736423855e-09,-1.0594943439077205e-12,-2.41850192546128e-11,1.272812058484748e-14,4.737067769216543e-10,-2.0753974071304387e-11,2.709038612833661e-11],"joint_position_rad":[-2.0199042833800105,-1.6014782390465745,1.3356026749060936,-1.3049210190906166,-1.5707963184236275,-0.4491079450853184],"joint_velocity_rad_s":[9.07894709807055e-08,2.104425697153461e-06,-7.303503007666086e-06,6.384112950174616e-06,-3.7769340666198886e-08,4.0323205372278986e-08],"linkage_position_rad":[0.002933610522301183,0.00015630159591209063,0.003193478779691224,-0.0034292982588141527,0.0029336104026291684,0.00015630108455155932,0.003197848964336899,-0.003437996182367416],"tcp_position_m":[0.08125537737317401,0.47723571169637025,0.4349996320117181],"tcp_quaternion_wxyz":[-4.6261533394994883e-08,0.7071067852523328,0.7071067771207501,1.1965480075573824e-07],"object_position_m":[0.08123550790090561,0.477735602437564,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.889605406446712e-11,8.278159737481389e-13,1.0484596155835989e-06],"object_linear_velocity_m_s":[-1.0594943439077205e-12,-2.41850192546128e-11,1.272812058484748e-14],"object_angular_velocity_rad_s":[4.737068204400647e-10,-2.075298074538448e-11,2.7090386128336623e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513225197659,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042638761084,-1.6109718327574907,1.3254580573908157,-1.309746402255089,-1.570795107562784,-0.44910793710123814,0.0],"actuator_force":[2.6920156415144447e-06,-18.988029192110844,-20.286313629353117,-2.4133299935311925,0.0006092073558647826,-4.0280383473145775e-08,-0.29336107985037],"issued_joint_targets_rad":[-2.0199042637926077,-1.601477816440954,1.3356012312219325,-1.304919748854468,-1.5707963260397197,-0.44910793701630314],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.499999999997957,"joint_targets_rad":[-2.0199042637926077,-1.601477816440954,1.3356012312219325,-1.304919748854468,-1.5707963260397197,-0.44910793701630314],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.519999999997946,"qpos":[-2.019904281639732,-1.6014781990182927,1.3356025362060693,-1.3049208977927775,-1.5707963191480703,-0.44910794431230716,0.0029336105866604,0.00015630159777276702,0.003193478840242496,-0.0034292983241293994,0.0029336104661871337,0.00015630108353551335,0.0031978490092618756,-0.0034379962510818827,0.08123550790087963,0.4777356024369715,0.2998922445797833,0.99999999999945,-1.940059087637656e-11,8.498813621620702e-13,1.0484602713885357e-06],"qvel":[8.313608100194214e-08,1.9087177194376374e-06,-6.607532499378112e-06,5.780298712850735e-06,-3.4531924680003136e-08,3.684958369441729e-08,3.051196619664447e-09,8.10023539214665e-11,2.88613808530067e-09,-3.0814504800292e-09,3.0184982975376907e-09,-4.0917813004105437e-11,2.2094627895276924e-09,-3.2382184476995933e-09,-1.1763668493614353e-12,-2.6854163396068558e-11,1.2726732806066698e-14,2.102111741932788e-10,-9.211594250613717e-12,4.946020707882259e-11],"joint_position_rad":[-2.019904281639732,-1.6014781990182927,1.3356025362060693,-1.3049208977927775,-1.5707963191480703,-0.44910794431230716],"joint_velocity_rad_s":[8.313608100194214e-08,1.9087177194376374e-06,-6.607532499378112e-06,5.780298712850735e-06,-3.4531924680003136e-08,3.684958369441729e-08],"linkage_position_rad":[0.0029336105866604,0.00015630159777276702,0.003193478840242496,-0.0034292983241293994,0.0029336104661871337,0.00015630108353551335,0.0031978490092618756,-0.0034379962510818827],"tcp_position_m":[0.08125537716680423,0.47723571270599335,0.434999667591226],"tcp_quaternion_wxyz":[-4.218643876897121e-08,0.7071067849103533,0.7071067774627317,1.090949774966019e-07],"object_position_m":[0.08123550790087963,0.4777356024369715,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.940059087637656e-11,8.498813621620702e-13,1.0484602713885357e-06],"object_linear_velocity_m_s":[-1.1763668493614353e-12,-2.6854163396068558e-11,1.2726732806066698e-14],"object_angular_velocity_rad_s":[2.1021119350888177e-10,-9.211153452544858e-12,4.9460207078822654e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322483267,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042637926055,-1.61097183259312,1.3254580563890523,-1.309746400910989,-1.5707951076436677,-0.4491079370160103,0.0],"actuator_force":[2.439820491417777e-06,-18.98803063674177,-20.286316621034075,-2.4133295889769215,0.0006092053937436503,-3.6809950643146294e-08,-0.2933610829908513],"issued_joint_targets_rad":[-2.0199042637169713,-1.6014778157575296,1.3356012300796245,-1.3049197477059888,-1.5707963261108067,-0.44910793693906403],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.519999999997946,"joint_targets_rad":[-2.0199042637169713,-1.6014778157575296,1.3356012300796245,-1.3049197477059888,-1.5707963261108067,-0.44910793693906403],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.539999999997935,"qpos":[-2.0199042800463154,-1.6014781627129038,1.3356024107230138,-1.304920787967452,-1.570796319810356,-0.44910794360594786,0.002933610644786005,0.0001563015994549176,0.0031934788949267334,-0.0034292983831177436,0.0029336105235879617,0.00015630108261475777,0.0031978490498009104,-0.003437996313149853,0.08123550790085461,0.47773560243639956,0.2998922445797833,0.99999999999945,-1.927080804317353e-11,8.441655378101223e-13,1.048460976709229e-06],"qvel":[7.611875445851042e-08,1.7311840481398204e-06,-5.977892472290284e-06,5.233588136122795e-06,-3.1569069221513424e-08,3.367210809942995e-08,2.755654099539549e-09,7.323995008302716e-11,2.606504873871868e-09,-2.7827752562260234e-09,2.726078904995732e-09,-3.708497312250915e-11,1.9939976596651046e-09,-2.92494367773934e-09,-1.3529864449442727e-12,-3.0887240521025764e-11,1.2733671699970605e-14,-1.9859411522191975e-10,8.696786328181308e-12,9.030177733266253e-11],"joint_position_rad":[-2.0199042800463154,-1.6014781627129038,1.3356024107230138,-1.304920787967452,-1.570796319810356,-0.44910794360594786],"joint_velocity_rad_s":[7.611875445851042e-08,1.7311840481398204e-06,-5.977892472290284e-06,5.233588136122795e-06,-3.1569069221513424e-08,3.367210809942995e-08],"linkage_position_rad":[0.002933610644786005,0.0001563015994549176,0.0031934788949267334,-0.0034292983831177436,0.0029336105235879617,0.00015630108261475777,0.0031978490498009104,-0.003437996313149853],"tcp_position_m":[0.08125537697386082,0.4772357136227391,0.4349996997291301],"tcp_quaternion_wxyz":[-3.8467111124720634e-08,0.7071067845967319,0.7071067777763543,9.945870664512664e-08],"object_position_m":[0.08123550790085461,0.47773560243639956,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.927080804317353e-11,8.441655378101223e-13,1.048460976709229e-06],"object_linear_velocity_m_s":[-1.3529864449442727e-12,-3.0887240521025764e-11,1.2733671699970605e-14],"object_angular_velocity_rad_s":[-1.985941334578127e-10,8.69636989528253e-12,9.030177733266257e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513224503354,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042637169695,-1.6109718324460314,1.3254580554820603,-1.3097463996937437,-1.5707951077169593,-0.449107936938797,0.0],"actuator_force":[2.2111898942966945e-06,-18.988031939874872,-20.286319324918168,-2.4133292219595432,0.0006092036052223193,-3.363538780831732e-08,-0.2933610858273633],"issued_joint_targets_rad":[-2.019904263648462,-1.6014778151388656,1.3356012290456138,-1.3049197466663773,-1.570796326175202,-0.44910793686908823],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.539999999997935,"joint_targets_rad":[-2.019904263648462,-1.6014778151388656,1.3356012290456138,-1.3049197466663773,-1.570796326175202,-0.44910793686908823],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.559999999997924,"qpos":[-2.0199042785875383,-1.6014781297846492,1.3356022971972785,-1.3049206885296594,-1.5707963204157616,-0.44910794296055173,0.002933610697282011,0.00015630160097565611,0.0031934789443124273,-0.0034292984363886872,0.0029336105754283696,0.00015630108178035104,0.0031978490863823544,-0.0034379963692155557,0.08123550790082941,0.47773560243582414,0.2998922445797833,0.99999999999945,-1.93631532368132e-11,8.481905398989988e-13,1.048461809451636e-06],"qvel":[6.968557108089914e-08,1.57013960303115e-06,-5.408260265060952e-06,4.7385813768774415e-06,-2.8857793770522542e-08,3.0765853192322446e-08,2.4887445589304773e-09,6.620274954300015e-11,2.3539729253224846e-09,-2.5130954025324334e-09,2.461995656577908e-09,-3.360869917325243e-11,1.7995167562482097e-09,-2.6420662507975702e-09,-1.6575910798321866e-12,-3.7841984828929974e-11,1.2740610593874511e-14,-7.881162050557954e-10,3.452140060313977e-11,1.6486848670506328e-10],"joint_position_rad":[-2.0199042785875383,-1.6014781297846492,1.3356022971972785,-1.3049206885296594,-1.5707963204157616,-0.44910794296055173],"joint_velocity_rad_s":[6.968557108089914e-08,1.57013960303115e-06,-5.408260265060952e-06,4.7385813768774415e-06,-2.8857793770522542e-08,3.0765853192322446e-08],"linkage_position_rad":[0.002933610697282011,0.00015630160097565611,0.0031934789443124273,-0.0034292984363886872,0.0029336105754283696,0.00015630108178035104,0.0031978490863823544,-0.0034379963692155557],"tcp_position_m":[0.08125537679362728,0.47723571445510804,0.43499972875848625],"tcp_quaternion_wxyz":[-3.5072831721912226e-08,0.7071067843091591,0.7071067780639287,9.066610553172645e-08],"object_position_m":[0.08123550790082941,0.47773560243582414,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.93631532368132e-11,8.481905398989988e-13,1.048461809451636e-06],"object_linear_velocity_m_s":[-1.6575910798321866e-12,-3.7841984828929974e-11,1.2740610593874511e-14],"object_angular_velocity_rad_s":[-7.881162774425227e-10,3.4519747989963776e-11,1.6486848670506325e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513224206219,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042636484608,-1.6109718323144162,1.325458054660874,-1.3097463985913849,-1.5707951077833697,-0.4491079368688448,0.0],"actuator_force":[2.0039265109517146e-06,-18.9880331153754,-20.286321768703147,-2.413328889000354,0.0006092019752941269,-3.0731882816326106e-08,-0.29336108838922015],"issued_joint_targets_rad":[-2.0199042635864073,-1.6014778145788253,1.3356012281096312,-1.3049197457253112,-1.570796326233537,-0.44910793680569244],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.559999999997924,"joint_targets_rad":[-2.0199042635864073,-1.6014778145788253,1.3356012281096312,-1.3049197457253112,-1.570796326233537,-0.44910793680569244],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.579999999997913,"qpos":[-2.019904277252178,-1.6014780999198328,1.3356021944892822,-1.3049205984970174,-1.5707963209691236,-0.4491079423709094,0.002933610744693898,0.0001563016023505135,0.0031934789889136264,-0.0034292984844992483,0.002933610622247232,0.0001563010810242144,0.0031978491193929417,-0.003437996419856894,0.08123550790080532,0.4777356024352743,0.2998922445797833,0.99999999999945,-1.7686934099104383e-11,7.747539625386719e-13,1.0484625764097691e-06],"qvel":[6.378875639061458e-08,1.4240552665810146e-06,-4.892915992022891e-06,4.29038917709829e-06,-2.6377013615939886e-08,2.8107959561472087e-08,2.247698097778852e-09,5.984891517573208e-11,2.1259278615939017e-09,-2.2695974445464997e-09,2.2235035949688633e-09,-3.047327862073437e-11,1.6240055642832834e-09,-2.386440163011292e-09,-2.1602326457214457e-12,-4.931912519368205e-11,1.274061059387451e-14,-1.6586275376749042e-09,7.26485364809074e-11,3.0100781168214926e-10],"joint_position_rad":[-2.019904277252178,-1.6014780999198328,1.3356021944892822,-1.3049205984970174,-1.5707963209691236,-0.4491079423709094],"joint_velocity_rad_s":[6.378875639061458e-08,1.4240552665810146e-06,-4.892915992022891e-06,4.29038917709829e-06,-2.6377013615939886e-08,2.8107959561472087e-08],"linkage_position_rad":[0.002933610744693898,0.0001563016023505135,0.0031934789889136264,-0.0034292984844992483,0.002933610622247232,0.0001563010810242144,0.0031978491193929417,-0.003437996419856894],"tcp_position_m":[0.08125537662540548,0.47723571521082614,0.4349997549801068],"tcp_quaternion_wxyz":[-3.1975496112135184e-08,0.7071067840455086,0.7071067783275801,8.264410677156108e-08],"object_position_m":[0.08123550790080532,0.4777356024352743,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7686934099104383e-11,7.747539625386719e-13,1.0484625764097691e-06],"object_linear_velocity_m_s":[-2.1602326457214457e-12,-4.931912519368205e-11,1.274061059387451e-14],"object_angular_velocity_rad_s":[-1.6586276900093336e-09,7.264505847359252e-11,3.0100781168214926e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513223938105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263586406,-1.6109718321966549,1.3254580539173748,-1.3097463975930694,-1.5707951078435467,-0.44910793680547056,0.0],"actuator_force":[1.8160417312174104e-06,-18.988034175750272,-20.28632397741785,-2.413328586943635,0.0006092004898619052,-2.807655619108118e-08,-0.293361090703065],"issued_joint_targets_rad":[-2.0199042635302,-1.6014778140718529,1.3356012272623832,-1.3049197448734509,-1.5707963262863809,-0.44910793674825866],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.579999999997913,"joint_targets_rad":[-2.0199042635302,-1.6014778140718529,1.3356012272623832,-1.3049197448734509,-1.5707963262863809,-0.44910793674825866],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.599999999997902,"qpos":[-2.019904276029931,-1.601478072833851,1.335602101568067,-1.3049205169800422,-1.5707963214748712,-0.449107941832251,0.0029336107875142605,0.00015630160359354786,0.003193479029193455,-0.0034292985279505703,0.002933610664531159,0.00015630108033897882,0.003197849149180983,-0.0034379964656018514,0.08123550790077862,0.47773560243466456,0.2998922445797833,0.99999999999945,-1.8073572540164442e-11,7.916653306593439e-13,1.0484637182038847e-06],"qvel":[5.838434159283193e-08,1.2915434838026992e-06,-4.426685056098429e-06,3.8845845591914985e-06,-2.4107372514599175e-08,2.567745676215392e-08,2.030008547191645e-09,5.409256312908139e-11,1.919938192674955e-09,-2.0495904779835473e-09,2.0081256333095037e-09,-2.761552036591583e-11,1.4656141769271707e-09,-2.155714944521237e-09,-9.70524547137878e-13,-2.2157334145691848e-11,1.27336716999706e-14,6.631010995691806e-10,-2.9047183879116677e-11,3.2611713379780563e-11],"joint_position_rad":[-2.019904276029931,-1.601478072833851,1.335602101568067,-1.3049205169800422,-1.5707963214748712,-0.449107941832251],"joint_velocity_rad_s":[5.838434159283193e-08,1.2915434838026992e-06,-4.426685056098429e-06,3.8845845591914985e-06,-2.4107372514599175e-08,2.567745676215392e-08],"linkage_position_rad":[0.0029336107875142605,0.00015630160359354786,0.003193479029193455,-0.0034292985279505703,0.002933610664531159,0.00015630108033897882,0.003197849149180983,-0.0034379964656018514],"tcp_position_m":[0.08125537646851738,0.4772357158969171,0.43499977866567985],"tcp_quaternion_wxyz":[-2.9149398489167807e-08,0.7071067838038241,0.7071067785692657,7.532588458493156e-08],"object_position_m":[0.08123550790077862,0.47773560243466456,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8073572540164442e-11,7.916653306593439e-13,1.0484637182038847e-06],"object_linear_velocity_m_s":[-9.70524547137878e-13,-2.2157334145691848e-11,1.27336716999706e-14],"object_angular_velocity_rad_s":[6.631011604776107e-10,-2.904579340298518e-11,3.2611713379780576e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513223696213,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263530199,-1.6109718320912951,1.3254580532442137,-1.3097463966889806,-1.5707951078980742,-0.44910793674805644,0.0],"actuator_force":[1.6457270248793066e-06,-18.988035132281766,-20.286325973684143,-2.4133283129251595,0.000609199135851668,-2.5648375867604045e-08,-0.29336109279294187],"issued_joint_targets_rad":[-2.0199042634792876,-1.6014778136129197,1.3356012264954569,-1.3049197441023401,-1.5707963263342508,-0.4491079366962253],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.599999999997902,"joint_targets_rad":[-2.0199042634792876,-1.6014778136129197,1.3356012264954569,-1.3049197441023401,-1.5707963263342508,-0.4491079366962253],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.61999999999789,"qpos":[-2.0199042749113403,-1.6014780482685005,1.3356020175009427,-1.3049204431733625,-1.5707963219370606,-0.4491079413402102,0.0029336108261879272,0.0001563016047172151,0.0031934790655712498,-0.003429298567191243,0.0029336107027196066,0.00015630107971809052,0.0031978491760617776,-0.003437996506921249,0.08123550790075103,0.47773560243403457,0.2998922445797833,0.99999999999945,-1.92629276677081e-11,8.437279863291456e-13,1.04846517937491e-06],"qvel":[5.3431904528478574e-08,1.1713451711246839e-06,-4.004886170024637e-06,3.517159131090718e-06,-2.2031128490619908e-08,2.345512894998716e-08,1.8334105519405235e-09,4.890655955366837e-11,1.733954449514357e-09,-1.851164409589456e-09,1.8136178786526335e-09,-2.5037063502683855e-11,1.3227138144573143e-09,-1.9469908096650744e-09,-1.065280994761216e-12,-2.4321657226147793e-11,1.2733671699970602e-14,5.306376179613667e-10,-2.3244186800104065e-11,5.954080254363207e-11],"joint_position_rad":[-2.0199042749113403,-1.6014780482685005,1.3356020175009427,-1.3049204431733625,-1.5707963219370606,-0.4491079413402102],"joint_velocity_rad_s":[5.3431904528478574e-08,1.1713451711246839e-06,-4.004886170024637e-06,3.517159131090718e-06,-2.2031128490619908e-08,2.345512894998716e-08],"linkage_position_rad":[0.0029336108261879272,0.0001563016047172151,0.0031934790655712498,-0.003429298567191243,0.0029336107027196066,0.00015630107971809052,0.0031978491760617776,-0.003437996506921249],"tcp_position_m":[0.08125537632230753,0.4772357165197644,0.4349998000605926],"tcp_quaternion_wxyz":[-2.6571029259828643e-08,0.7071067835823057,0.7071067787907852,6.865033219310441e-08],"object_position_m":[0.08123550790075103,0.47773560243403457,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.92629276677081e-11,8.437279863291456e-13,1.04846517937491e-06],"object_linear_velocity_m_s":[-1.065280994761216e-12,-2.4321657226147793e-11,1.2733671699970602e-14],"object_angular_velocity_rad_s":[5.306376667017412e-10,-2.324307408762849e-11,5.954080254363209e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513223477943,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042634792868,-1.610971831997038,1.3254580526347368,-1.309746395870227,-1.5707951079474824,-0.44910793669604093,0.0],"actuator_force":[1.4913453014742117e-06,-18.988035995143946,-20.286327777943825,-2.413328064345251,0.0006091979020084182,-2.3428242457157467e-08,-0.29336109468051885],"issued_joint_targets_rad":[-2.019904263433173,-1.601477813197474,1.3356012258012375,-1.3049197434043247,-1.570796326377615,-0.4491079366490854],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.61999999999789,"joint_targets_rad":[-2.019904263433173,-1.601477813197474,1.3356012258012375,-1.3049197434043247,-1.570796326377615,-0.4491079366490854],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.63999999999788,"qpos":[-2.019904273887727,-1.601478025989534,1.335601941444118,-1.3049203763477688,-1.5707963223594088,-0.4491079408907899,0.002933610861116652,0.00015630160573320014,0.0031934790984253754,-0.0034292986026314264,0.0029336107372094026,0.00015630107915538772,0.0031978492003183925,-0.003437996544246214,0.08123550790072405,0.477735602433418,0.2998922445797833,0.99999999999945,-1.9991952599802375e-11,8.756286093408662e-13,1.0484668147297154e-06],"qvel":[4.889425098453224e-08,1.0623178510325132e-06,-3.623284311275235e-06,3.1844835263171905e-06,-2.0131996287056683e-08,2.1423348059644726e-08,1.655861460990487e-09,4.421061489352696e-11,1.5660373528365633e-09,-1.671667577669792e-09,1.6379600843703967e-09,-2.2684660089070735e-11,1.193748360237267e-09,-1.7587552009569135e-09,-1.1816661525282838e-12,-2.6979916360943685e-11,1.2726732806066693e-14,2.9335598427879824e-10,-1.28507521750362e-11,1.0870641862982507e-10],"joint_position_rad":[-2.019904273887727,-1.601478025989534,1.335601941444118,-1.3049203763477688,-1.5707963223594088,-0.4491079408907899],"joint_velocity_rad_s":[4.889425098453224e-08,1.0623178510325132e-06,-3.623284311275235e-06,3.1844835263171905e-06,-2.0131996287056683e-08,2.1423348059644726e-08],"linkage_position_rad":[0.002933610861116652,0.00015630160573320014,0.0031934790984253754,-0.0034292986026314264,0.0029336107372094026,0.00015630107915538772,0.0031978492003183925,-0.003437996544246214],"tcp_position_m":[0.0812553761861459,0.47723571708516893,0.43499981938647814],"tcp_quaternion_wxyz":[-2.4218889891862786e-08,0.7071067833792981,0.707106778993793,6.256158148800593e-08],"object_position_m":[0.08123550790072405,0.477735602433418,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9991952599802375e-11,8.756286093408662e-13,1.0484668147297154e-06],"object_linear_velocity_m_s":[-1.1816661525282838e-12,-2.6979916360943685e-11,1.2726732806066693e-14],"object_angular_velocity_rad_s":[2.9335601122551783e-10,-1.2850137022632593e-11,1.0870641862982506e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513223280993,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042634331725,-1.6109718319127202,1.3254580520829196,-1.3097463951287553,-1.5707951079922526,-0.4491079366489174,0.0],"actuator_force":[1.3514090824173763e-06,-18.98803677351316,-20.286329408672373,-2.4133278388459303,0.0006091967776455931,-2.1398562921604025e-08,-0.29336109638541047],"issued_joint_targets_rad":[-2.0199042633914037,-1.6014778128213945,1.3356012251728324,-1.3049197427724761,-1.5707963264168971,-0.44910793660637893],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.63999999999788,"joint_targets_rad":[-2.0199042633914037,-1.6014778128213945,1.3356012251728324,-1.3049197427724761,-1.5707963264168971,-0.44910793660637893],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.659999999997869,"qpos":[-2.0199042729511256,-1.6014780057844396,1.3356018726342271,-1.304920315843009,-1.570796322745318,-0.4491079404803323,0.002933610892663222,0.0001563016066516839,0.0031934791280970633,-0.003429298634637365,0.0029336107683589413,0.00015630107864548077,0.0031978492222075865,-0.003437996577960913,0.08123550790069783,0.4777356024328198,0.2998922445797833,0.99999999999945,-2.0087250856687038e-11,8.797860991385298e-13,1.0484685920017112e-06],"qvel":[4.473718429774704e-08,9.634248771438847e-07,-3.2780481807560126e-06,2.8832715454468306e-06,-1.8395039259375037e-08,1.956596287211131e-08,1.4955178416648196e-09,3.9974982658418215e-11,1.4143433598238483e-09,-1.5096522849490668e-09,1.4793256817653884e-09,-2.0568349508600653e-11,1.0773170698574639e-09,-1.588697730029302e-09,-1.3482521697167416e-12,-3.0784000525887537e-11,1.2725345027285913e-14,-8.57252274234706e-11,3.753483554289444e-12,1.9847005637614745e-10],"joint_position_rad":[-2.0199042729511256,-1.6014780057844396,1.3356018726342271,-1.304920315843009,-1.570796322745318,-0.4491079404803323],"joint_velocity_rad_s":[4.473718429774704e-08,9.634248771438847e-07,-3.2780481807560126e-06,2.8832715454468306e-06,-1.8395039259375037e-08,1.956596287211131e-08],"linkage_position_rad":[0.002933610892663222,0.0001563016066516839,0.0031934791280970633,-0.003429298634637365,0.0029336107683589413,0.00015630107864548077,0.0031978492222075865,-0.003437996577960913],"tcp_position_m":[0.08125537605942594,0.4772357175984032,0.4349998368435146],"tcp_quaternion_wxyz":[-2.207332475283895e-08,0.7071067831932786,0.7071067791798132,5.700855871245232e-08],"object_position_m":[0.08123550790069783,0.4777356024328198,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0087250856687038e-11,8.797860991385298e-13,1.0484685920017112e-06],"object_linear_velocity_m_s":[-1.3482521697167416e-12,-3.0784000525887537e-11,1.2725345027285913e-14],"object_angular_velocity_rad_s":[-8.57252352937521e-11,3.753303801837634e-12,1.9847005637614735e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513223103281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042633914033,-1.6109718318372979,1.325458051583308,-1.3097463944572731,-1.5707951080328193,-0.44910793660622583,0.0],"actuator_force":[1.2245714060554747e-06,-18.988037475667625,-20.286330882565835,-2.413327634286702,0.0006091957533271852,-1.95430516214401e-08,-0.2933610979253258],"issued_joint_targets_rad":[-2.0199042633535695,-1.6014778124809508,1.335601224604001,-1.3049197422005214,-1.570796326452482,-0.44910793656768855],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.659999999997869,"joint_targets_rad":[-2.0199042633535695,-1.6014778124809508,1.335601224604001,-1.3049197422005214,-1.570796326452482,-0.44910793656768855],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.679999999997857,"qpos":[-2.0199042720942306,-1.6014779874604286,1.3356018103806617,-1.3049202610612713,-1.5707963230979023,-0.44910794010548966,0.002933610921100513,0.00015630160745805577,0.0031934791549831157,-0.003429298663484967,0.0029336107965381264,0.0001563010782715536,0.0031978492416067563,-0.003437996608401196,0.08123550790067277,0.4777356024322469,0.2998922445797833,0.99999999999945,-1.9267615614907796e-11,8.438804087038897e-13,1.0484704222434784e-06],"qvel":[4.092928697262051e-08,8.737256305229857e-07,-2.9657117107538718e-06,2.6105477359127922e-06,-1.6806593411498084e-08,1.7868172978556686e-08,1.3575004493455546e-09,3.9584378600641583e-11,1.2656677783353828e-09,-1.3715961736327887e-09,1.3298611703923047e-09,-3.226316574622706e-11,1.0170937971362193e-09,-1.4305674037662993e-09,-1.6123366383204711e-12,-3.6813991995482855e-11,1.2728120584847477e-14,-6.595741277444509e-10,2.8888060179926115e-11,3.623555691831832e-10],"joint_position_rad":[-2.0199042720942306,-1.6014779874604286,1.3356018103806617,-1.3049202610612713,-1.5707963230979023,-0.44910794010548966],"joint_velocity_rad_s":[4.092928697262051e-08,8.737256305229857e-07,-2.9657117107538718e-06,2.6105477359127922e-06,-1.6806593411498084e-08,1.7868172978556686e-08],"linkage_position_rad":[0.002933610921100513,0.00015630160745805577,0.0031934791549831157,-0.003429298663484967,0.0029336107965381264,0.0001563010782715536,0.0031978492416067563,-0.003437996608401196],"tcp_position_m":[0.08125537594156877,0.47723571806425835,0.43499985261250496],"tcp_quaternion_wxyz":[-2.0116365685835828e-08,0.7071067830228476,0.7071067793502445,5.19445817197098e-08],"object_position_m":[0.08123550790067277,0.4777356024322469,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9267615614907796e-11,8.438804087038897e-13,1.0484704222434784e-06],"object_linear_velocity_m_s":[-1.6123366383204711e-12,-3.6813991995482855e-11,1.2728120584847477e-14],"object_angular_velocity_rad_s":[-6.595741883189419e-10,2.8886677105897602e-11,3.6235556918318297e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222944776,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263353569,-1.610971831769838,1.3254580511309624,-1.3097463938491742,-1.570795108069578,-0.44910793656754905,0.0],"actuator_force":[1.1096080925199203e-06,-18.988038109071113,-20.286332214714548,-2.413327448724999,0.0006091948215498633,-1.784701453289017e-08,-0.29336109931874005],"issued_joint_targets_rad":[-2.0199042633193,-1.601477812172767,1.3356012240890969,-1.3049197416827851,-1.5707963264847171,-0.4491079365326366],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.679999999997857,"joint_targets_rad":[-2.0199042633193,-1.601477812172767,1.3356012240890969,-1.3049197416827851,-1.5707963264847171,-0.4491079365326366],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.699999999997846,"qpos":[-2.0199042713103394,-1.6014779708426066,1.3356017540586351,-1.3049202114612777,-1.5707963234200142,-0.44910793976319874,0.00293361094683996,0.00015630160821197367,0.003193479179178664,-0.0034292986895995193,0.002933610821940923,0.00015630107784373088,0.003197849259446395,-0.003437996635911825,0.08123550790064929,0.47773560243171076,0.2998922445797833,0.99999999999945,-1.7122118010890178e-11,7.499088630811243e-13,1.0484721079011786e-06],"qvel":[3.74416656398448e-08,7.923666699742861e-07,-2.6831392248822163e-06,2.363617993076089e-06,-1.5354068213240794e-08,1.6316414965377368e-08,1.226251483585892e-09,3.5700663141792604e-11,1.142814263056589e-09,-1.2387933063445622e-09,1.2010180043382613e-09,-2.8999654058401666e-11,9.209084396803458e-10,-1.2931473439981289e-09,-2.0531323730441927e-12,-4.687901086442964e-11,1.2728120584847477e-14,-1.5021580909297286e-09,6.579112022829272e-11,6.615720143395299e-10],"joint_position_rad":[-2.0199042713103394,-1.6014779708426066,1.3356017540586351,-1.3049202114612777,-1.5707963234200142,-0.44910793976319874],"joint_velocity_rad_s":[3.74416656398448e-08,7.923666699742861e-07,-2.6831392248822163e-06,2.363617993076089e-06,-1.5354068213240794e-08,1.6316414965377368e-08],"linkage_position_rad":[0.00293361094683996,0.00015630160821197367,0.003193479179178664,-0.0034292986895995193,0.002933610821940923,0.00015630107784373088,0.003197849259446395,-0.003437996635911825],"tcp_position_m":[0.0812553758320209,0.4772357184870883,0.4349998668567518],"tcp_quaternion_wxyz":[-1.833158841967563e-08,0.7071067828667186,0.7071067795063743,4.7326988356084327e-08],"object_position_m":[0.08123550790064929,0.47773560243171076,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7122118010890178e-11,7.499088630811243e-13,1.0484721079011786e-06],"object_linear_velocity_m_s":[-2.0531323730441927e-12,-4.687901086442964e-11,1.2728120584847477e-14],"object_angular_velocity_rad_s":[-1.5021582288857417e-09,6.578797030908306e-11,6.615720143395295e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222800068,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042633192996,-1.6109718317095054,1.3254580507214127,-1.309746393298479,-1.5707951081028853,-0.44910793653250947,0.0],"actuator_force":[1.0054136510007083e-06,-18.98803868046616,-20.28633341875502,-2.41332728040004,0.0006091939712860039,-1.6296894500555936e-08,-0.2933611005753916],"issued_joint_targets_rad":[-2.0199042632882613,-1.601477811893786,1.3356012236230064,-1.3049197412141254,-1.5707963265139178,-0.4491079365008816],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.699999999997846,"joint_targets_rad":[-2.0199042632882613,-1.601477811893786,1.3356012236230064,-1.3049197412141254,-1.5707963265139178,-0.4491079365008816],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.719999999997835,"qpos":[-2.0199042705933037,-1.6014779557723176,1.3356017031029097,-1.3049201665529382,-1.5707963237142637,-0.449107939450657,0.002933610970087507,0.0001563016088930811,0.003193479201028225,-0.003429298713182798,0.0029336108448846255,0.00015630107745615062,0.003197849275566423,-0.003437996660764348,0.08123550790062381,0.47773560243112945,0.2998922445797833,0.99999999999945,-1.7162497270195328e-11,7.51673250486368e-13,1.0484746174013398e-06],"qvel":[3.4247769281046034e-08,7.185736352490604e-07,-2.4274939727838106e-06,2.1400429753263787e-06,-1.4025970289577218e-08,1.4898258382348872e-08,1.1074275926050027e-09,3.222858465122494e-11,1.0321927118476005e-09,-1.1186745087695102e-09,1.0848136909649628e-09,-2.615895621190155e-11,8.309800331203936e-10,-1.1680507559215134e-09,-9.247884016977903e-13,-2.1115617670859026e-11,1.2726732806066695e-14,6.410692949353963e-10,-2.80778162018106e-11,7.167593284488282e-11],"joint_position_rad":[-2.0199042705933037,-1.6014779557723176,1.3356017031029097,-1.3049201665529382,-1.5707963237142637,-0.449107939450657],"joint_velocity_rad_s":[3.4247769281046034e-08,7.185736352490604e-07,-2.4274939727838106e-06,2.1400429753263787e-06,-1.4025970289577218e-08,1.4898258382348872e-08],"linkage_position_rad":[0.002933610970087507,0.0001563016088930811,0.003193479201028225,-0.003429298713182798,0.0029336108448846255,0.00015630107745615062,0.003197849275566423,-0.003437996660764348],"tcp_position_m":[0.08125537573025533,0.4772357188708478,0.4349998797237532],"tcp_quaternion_wxyz":[-1.6703982921758144e-08,0.7071067827237083,0.7071067796493846,4.31167936424186e-08],"object_position_m":[0.08123550790062381,0.47773560243112945,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7162497270195328e-11,7.51673250486368e-13,1.0484746174013398e-06],"object_linear_velocity_m_s":[-9.247884016977903e-13,-2.1115617670859026e-11,1.2726732806066695e-14],"object_angular_velocity_rad_s":[6.410693538118493e-10,-2.8076471909521098e-11,7.167593284488276e-11],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222669335,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263288261,-1.6109718316555508,1.3254580503506093,-1.3097463927997672,-1.5707951081330653,-0.4491079365007658,0.0],"actuator_force":[9.109780876315199e-07,-18.98803919592092,-20.28633450701136,-2.413327127712023,0.0006091931962828312,-1.4880242815706879e-08,-0.29336110170981305],"issued_joint_targets_rad":[-2.019904263260146,-1.6014778116412398,1.3356012232011027,-1.3049197407898925,-1.5707963265403702,-0.44910793647211245],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.719999999997835,"joint_targets_rad":[-2.019904263260146,-1.6014778116412398,1.3356012232011027,-1.3049197407898925,-1.5707963265403702,-0.44910793647211245],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.739999999997824,"qpos":[-2.019904269937486,-1.6014779421056369,1.3356016570021192,-1.3049201258925112,-1.5707963239830398,-0.44910793916530073,0.002933610990690128,0.0001563016090932169,0.0031934792213560667,-0.0034292987342941393,0.0029336108659553167,0.0001563010783588074,0.0031978492878549773,-0.003437996682893225,0.08123550790059783,0.4777356024305354,0.2998922445797833,0.99999999999945,-1.8106830535396456e-11,7.930350772433507e-13,1.048477828845536e-06],"qvel":[3.132324945086245e-08,6.516439116333622e-07,-2.196209605280572e-06,1.9376139609199537e-06,-1.2811814945901436e-08,1.3602325826888357e-08,1.0426661650980826e-09,8.871796831524237e-11,8.601841306993144e-10,-1.0456259547078161e-09,9.391724697433817e-10,-2.1010602735804758e-10,1.0143547959363964e-09,-1.0224856763368057e-09,-1.0029417347534826e-12,-2.290001550324985e-11,1.2726732806066695e-14,5.060521646753729e-10,-2.216426673643175e-11,1.3086220681156814e-10],"joint_position_rad":[-2.019904269937486,-1.6014779421056369,1.3356016570021192,-1.3049201258925112,-1.5707963239830398,-0.44910793916530073],"joint_velocity_rad_s":[3.132324945086245e-08,6.516439116333622e-07,-2.196209605280572e-06,1.9376139609199537e-06,-1.2811814945901436e-08,1.3602325826888357e-08],"linkage_position_rad":[0.002933610990690128,0.0001563016090932169,0.0031934792213560667,-0.0034292987342941393,0.0029336108659553167,0.0001563010783588074,0.0031978492878549773,-0.003437996682893225],"tcp_position_m":[0.08125537563577138,0.4772357192191308,0.4349998913467312],"tcp_quaternion_wxyz":[-1.5219831912954745e-08,0.7071067825927306,0.7071067797803625,3.927837859187247e-08],"object_position_m":[0.08123550790059783,0.4777356024305354,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8106830535396456e-11,7.930350772433507e-13,1.048477828845536e-06],"object_linear_velocity_m_s":[-1.0029417347534826e-12,-2.290001550324985e-11,1.2726732806066695e-14],"object_angular_velocity_rad_s":[5.06052211151952e-10,-2.2163205562694203e-11,1.3086220681156804e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222562773,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042632601456,-1.6109718316073032,1.3254580500148876,-1.3097463923481356,-1.5707951081604126,-0.4491079364720069,0.0],"actuator_force":[8.253809937741607e-07,-18.988039660896902,-20.28633549062124,-2.4133269892083717,0.000609192495176103,-1.3585690794570837e-08,-0.29336110274146543],"issued_joint_targets_rad":[-2.01990426323468,-1.6014778114126242,1.3356012228191965,-1.3049197404058743,-1.5707963265643319,-0.4491079364460491],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.739999999997824,"joint_targets_rad":[-2.01990426323468,-1.6014778114126242,1.3356012228191965,-1.3049197404058743,-1.5707963265643319,-0.4491079364460491],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.759999999997813,"qpos":[-2.0199042693377227,-1.6014779297120048,1.335601615293632,-1.3049200890782244,-1.5707963242285363,-0.44910793890478495,0.002933611008507474,0.00015630160477468215,0.003193479244591554,-0.003429298753061385,0.002933610885865506,0.00015630108445379508,0.0031978492957415953,-0.0034379967035839567,0.08123550790057092,0.47773560242992075,0.2998922445797833,0.99999999999945,-1.9722509015292904e-11,8.637854168359522e-13,1.0484818996090653e-06],"qvel":[2.864568322883514e-08,5.909402276686576e-07,-1.986964434023808e-06,1.7543317083150235e-06,-1.1700451138612394e-08,1.2418190412054156e-08,6.929981427050478e-10,-5.918700487322244e-10,1.493529066358767e-09,-8.85818945701671e-10,1.0872835867654739e-09,7.728041501407027e-10,7.044469167893775e-11,-9.266402606843504e-10,-1.1415026354781404e-12,-2.606418225337824e-11,1.2723957248505133e-14,3.1996873838999236e-10,-1.401461505349813e-11,2.389219955187726e-10],"joint_position_rad":[-2.0199042693377227,-1.6014779297120048,1.335601615293632,-1.3049200890782244,-1.5707963242285363,-0.44910793890478495],"joint_velocity_rad_s":[2.864568322883514e-08,5.909402276686576e-07,-1.986964434023808e-06,1.7543317083150235e-06,-1.1700451138612394e-08,1.2418190412054156e-08],"linkage_position_rad":[0.002933611008507474,0.00015630160477468215,0.003193479244591554,-0.003429298753061385,0.002933610885865506,0.00015630108445379508,0.0031978492957415953,-0.0034379967035839567],"tcp_position_m":[0.08125537554809854,0.47723571953520266,0.4349999018460161],"tcp_quaternion_wxyz":[-1.3866600360433846e-08,0.7071067824727886,0.707106779900305,3.577920696822339e-08],"object_position_m":[0.08123550790057092,0.47773560242992075,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9722509015292904e-11,8.637854168359522e-13,1.0484818996090653e-06],"object_linear_velocity_m_s":[-1.1415026354781404e-12,-2.606418225337824e-11,1.2723957248505133e-14],"object_angular_velocity_rad_s":[3.199687677778418e-10,-1.4013944081181737e-11,2.3892199551877246e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222454772,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426323468,-1.610971831564163,1.3254580497109285,-1.3097463919391394,-1.5707951081851912,-0.449107936445953,0.0],"actuator_force":[7.478120096493512e-07,-18.9880400804077,-20.286336379633667,-2.413326863628299,0.0006091917177855066,-1.2403063465171726e-08,-0.2933611036200577],"issued_joint_targets_rad":[-2.019904263211614,-1.6014778112056718,1.3356012224734954,-1.3049197400582586,-1.5707963265860385,-0.449107936422437],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.759999999997813,"joint_targets_rad":[-2.019904263211614,-1.6014778112056718,1.3356012224734954,-1.3049197400582586,-1.5707963265860385,-0.449107936422437],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.779999999997802,"qpos":[-2.0199042687892703,-1.6014779184729904,1.3356015775589094,-1.3049200557462939,-1.5707963244527432,-0.44910793866696475,0.0029336110212379936,0.00015630159172153139,0.0031934792747552784,-0.0034292987717521933,0.0029336109071228735,0.00015630109783775417,0.003197849293618262,-0.0034379967201030584,0.08123550790054428,0.4777356024293123,0.2998922445797833,0.99999999999945,-2.0446908006577304e-11,8.955086570760069e-13,1.0484863635654326e-06],"qvel":[2.6193822753156033e-08,5.358840364281055e-07,-1.797658089774765e-06,1.5883833395850704e-06,-1.068824205259208e-08,1.1336298029215275e-08,3.564850606714131e-10,-1.664221999238367e-09,2.5113280007398196e-09,-8.404512819630896e-10,1.2569182765538804e-09,1.6039382852594496e-09,-9.277562654617333e-10,-8.206254687271913e-10,-1.3205511262419861e-12,-3.015255657947189e-11,1.2723957248505131e-14,-6.463026683201412e-12,2.829783062498093e-13,4.362106144520415e-10],"joint_position_rad":[-2.0199042687892703,-1.6014779184729904,1.3356015775589094,-1.3049200557462939,-1.5707963244527432,-0.44910793866696475],"joint_velocity_rad_s":[2.6193822753156033e-08,5.358840364281055e-07,-1.797658089774765e-06,1.5883833395850704e-06,-1.068824205259208e-08,1.1336298029215275e-08],"linkage_position_rad":[0.0029336110212379936,0.00015630159172153139,0.0031934792747552784,-0.0034292987717521933,0.0029336109071228735,0.00015630109783775417,0.003197849293618262,-0.0034379967201030584],"tcp_position_m":[0.08125537546678233,0.47723571982202906,0.43499991133029337],"tcp_quaternion_wxyz":[-1.2632842857024578e-08,0.7071067823629636,0.7071067800101297,3.258955298150161e-08],"object_position_m":[0.08123550790054428,0.4777356024293123,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0446908006577304e-11,8.955086570760069e-13,1.0484863635654326e-06],"object_linear_velocity_m_s":[-1.3205511262419861e-12,-3.015255657947189e-11,1.2723957248505131e-14],"object_angular_velocity_rad_s":[-6.4630272758037455e-12,2.82964771296815e-13,4.3621061445204117e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222356255,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263211614,-1.6109718315255925,1.325458049435727,-1.3097463915687542,-1.570795108207644,-0.4491079364223495,0.0],"actuator_force":[6.777831913495902e-07,-18.988040458818887,-20.28633718312858,-2.413326749564135,0.0006091913738828225,-1.1322185855533462e-08,-0.29336110448506003],"issued_joint_targets_rad":[-2.0199042631907216,-1.6014778110183288,1.3356012221605666,-1.3049197397435943,-1.5707963266057017,-0.4491079364010463],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.779999999997802,"joint_targets_rad":[-2.0199042631907216,-1.6014778110183288,1.3356012221605666,-1.3049197397435943,-1.5707963266057017,-0.4491079364010463],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.799999999997791,"qpos":[-2.0199042682877875,-1.6014779082811654,1.3356015434192985,-1.3049200255673472,-1.5707963246574972,-0.4491079384498787,0.0029336110330917217,0.00015630158098741938,0.003193479302503779,-0.003429298789669998,0.002933610925886043,0.00015630110497823085,0.0031978492952728288,-0.0034379967350919908,0.08123550790051831,0.47773560242871965,0.2998922445797833,0.99999999999945,-2.010144561959443e-11,8.803845184844214e-13,1.0484910390664387e-06],"qvel":[2.3946806946339352e-08,4.859508068721067e-07,-1.6263906092481956e-06,1.438124756994292e-06,-9.77746463219067e-09,1.0347892605449259e-08,-6.856083226828043e-10,-7.688968657387212e-09,8.171125411278968e-09,-2.0332189520956785e-10,1.976473690393444e-09,6.696533630565528e-09,-5.644083943756534e-09,-1.1992805476143437e-09,-1.5772813199085138e-12,-3.601413514759445e-11,1.2728120584847477e-14,-5.298607029625652e-10,2.3208174152315176e-11,7.964054877612532e-10],"joint_position_rad":[-2.0199042682877875,-1.6014779082811654,1.3356015434192985,-1.3049200255673472,-1.5707963246574972,-0.4491079384498787],"joint_velocity_rad_s":[2.3946806946339352e-08,4.859508068721067e-07,-1.6263906092481956e-06,1.438124756994292e-06,-9.77746463219067e-09,1.0347892605449259e-08],"linkage_position_rad":[0.0029336110330917217,0.00015630158098741938,0.003193479302503779,-0.003429298789669998,0.002933610925886043,0.00015630110497823085,0.0031978492952728288,-0.0034379967350919908],"tcp_position_m":[0.08125537539140075,0.4772357200823042,0.4349999198977331],"tcp_quaternion_wxyz":[-1.1508098153747042e-08,0.7071067822624143,0.7071067801106793,2.968227393112369e-08],"object_position_m":[0.08123550790051831,0.47773560242871965,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.010144561959443e-11,8.803845184844214e-13,1.0484910390664387e-06],"object_linear_velocity_m_s":[-1.5772813199085138e-12,-3.601413514759445e-11,1.2728120584847477e-14],"object_angular_velocity_rad_s":[-5.298607516271228e-10,2.3207063075883922e-11,7.964054877612525e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322223885,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042631907216,-1.6109718314911101,1.3254580491865622,-1.3097463912333358,-1.5707951082279883,-0.4491079364009665,0.0],"actuator_force":[6.15409135207301e-07,-18.988040800212275,-20.286337909228678,-2.413326645469965,0.0006091925009741317,-1.0333167210774263e-08,-0.29336110440321506],"issued_joint_targets_rad":[-2.0199042631717976,-1.6014778108487384,1.3356012218773052,-1.304919739458759,-1.5707963266235134,-0.44910793638166685],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.799999999997791,"joint_targets_rad":[-2.0199042631717976,-1.6014778108487384,1.3356012218773052,-1.304919739458759,-1.5707963266235134,-0.44910793638166685],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.81999999999778,"qpos":[-2.01990426782929,-1.601477899039081,1.3356015125322358,-1.3049199982431505,-1.5707963248444494,-0.44910793825173323,0.002933611046364141,0.0001563015815128109,0.003193479317610745,-0.0034292988060709508,0.0029336109406084285,0.00015630110149436027,0.003197849307157311,-0.0034379967494762545,0.08123550790049364,0.47773560242815677,0.2998922445797833,0.99999999999945,-1.838444357707135e-11,8.051944462076268e-13,1.0484955081564707e-06],"qvel":[2.1898380707773694e-08,4.4066431081686433e-07,-1.4714410363712308e-06,1.302094405090211e-06,-8.909177045589835e-09,9.445026978757768e-09,1.2778671363482244e-09,2.846367029923204e-09,-2.0936181621094294e-09,-9.29222184569001e-10,8.076126440921732e-11,-2.4563102674789524e-09,2.7695135346961795e-09,-5.348690162100767e-10,-1.9864971074937907e-12,-4.535638839884398e-11,1.2736447257532166e-14,-1.3179910938655517e-09,5.7730602351948906e-11,1.4540407995537248e-09],"joint_position_rad":[-2.01990426782929,-1.601477899039081,1.3356015125322358,-1.3049199982431505,-1.5707963248444494,-0.44910793825173323],"joint_velocity_rad_s":[2.1898380707773694e-08,4.4066431081686433e-07,-1.4714410363712308e-06,1.302094405090211e-06,-8.909177045589835e-09,9.445026978757768e-09],"linkage_position_rad":[0.002933611046364141,0.0001563015815128109,0.003193479317610745,-0.0034292988060709508,0.0029336109406084285,0.00015630110149436027,0.003197849307157311,-0.0034379967494762545],"tcp_position_m":[0.08125537532154493,0.47723572031847633,0.4349999276370028],"tcp_quaternion_wxyz":[-1.048282287245253e-08,0.707106782170366,0.707106780202728,2.7032570452065196e-08],"object_position_m":[0.08123550790049364,0.47773560242815677,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.838444357707135e-11,8.051944462076268e-13,1.0484955081564707e-06],"object_linear_velocity_m_s":[-1.9864971074937907e-12,-4.535638839884398e-11,1.2736447257532166e-14],"object_angular_velocity_rad_s":[-1.317991214920866e-09,5.7727838589801984e-11,1.4540407995537238e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222133109,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042631717976,-1.610971831460286,1.3254580489609722,-1.3097463909295846,-1.5707951082464222,-0.4491079363815942,0.0],"actuator_force":[5.556325959332753e-07,-18.98804110813444,-20.28633856611259,-2.4133265526575087,0.0006091899313105387,-9.43316535995109e-09,-0.29336110614177047],"issued_joint_targets_rad":[-2.019904263154657,-1.601477810695219,1.3356012216208988,-1.3049197392009249,-1.5707963266396487,-0.4491079363641101],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.81999999999778,"joint_targets_rad":[-2.019904263154657,-1.601477810695219,1.3356012216208988,-1.3049197392009249,-1.5707963266396487,-0.4491079363641101],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.839999999997769,"qpos":[-2.0199042674101433,-1.6014778906583447,1.3356014845877977,-1.3049199735037047,-1.5707963250151786,-0.4491079380708886,0.0029336110573541787,0.0001563015693330172,0.0031934793417105565,-0.0034292988176903173,0.002933610954629954,0.00015630110765120093,0.0031978493110235372,-0.003437996765144105,0.08123550790046827,0.47773560242757745,0.2998922445797833,0.99999999999945,-1.7485972431592704e-11,7.658578190478555e-13,1.0485010236799216e-06],"qvel":[2.0019823567586e-08,3.995929744334966e-07,-1.3312564304441296e-06,1.178923733089984e-06,-8.131244633977493e-09,8.620321126971218e-09,9.142976834185845e-10,2.516430364231207e-09,-1.6589205228191502e-09,-1.0511545558976888e-09,4.023637708423509e-10,-1.9328696450732594e-09,2.2224725593508716e-09,-4.3921014449629245e-10,-9.387770280767694e-13,-2.1434625960413532e-11,1.2726732806066693e-14,6.852857292304779e-10,-3.0014499119637776e-11,1.5753348532339617e-10],"joint_position_rad":[-2.0199042674101433,-1.6014778906583447,1.3356014845877977,-1.3049199735037047,-1.5707963250151786,-0.4491079380708886],"joint_velocity_rad_s":[2.0019823567586e-08,3.995929744334966e-07,-1.3312564304441296e-06,1.178923733089984e-06,-8.131244633977493e-09,8.620321126971218e-09],"linkage_position_rad":[0.0029336110573541787,0.0001563015693330172,0.0031934793417105565,-0.0034292988176903173,0.002933610954629954,0.00015630110765120093,0.0031978493110235372,-0.003437996765144105],"tcp_position_m":[0.08125537525685733,0.4772357205327666,0.4349999346281962],"tcp_quaternion_wxyz":[-9.54827487619093e-09,0.7071067820861136,0.7071067802869805,2.4617826299300035e-08],"object_position_m":[0.08123550790046827,0.47773560242757745,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7485972431592704e-11,7.658578190478555e-13,1.0485010236799216e-06],"object_linear_velocity_m_s":[-9.387770280767694e-13,-2.1434625960413532e-11,1.2726732806066693e-14],"object_angular_velocity_rad_s":[6.852857921696782e-10,-3.0013062068485286e-11,1.5753348532339604e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513222007337,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263154657,-1.6109718314327353,1.3254580487567273,-1.3097463906545115,-1.5707951082631255,-0.44910793636404395,0.0],"actuator_force":[5.030428837926593e-07,-18.98804138597052,-20.286339159568797,-2.413326467776642,0.0006091891509640845,-8.609788437752286e-09,-0.2933611071825139],"issued_joint_targets_rad":[-2.0199042631391313,-1.6014778105562455,1.3356012213887976,-1.3049197389675313,-1.5707963266542655,-0.44910793634820434],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.839999999997769,"joint_targets_rad":[-2.0199042631391313,-1.6014778105562455,1.3356012213887976,-1.3049197389675313,-1.5707963266542655,-0.44910793634820434],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.859999999997758,"qpos":[-2.0199042670269973,-1.60147788305878,1.335601459305604,-1.3049199511045186,-1.5707963251710657,-0.4491079379058455,0.002933611067387094,0.00015630156256888847,0.003193479359830219,-0.0034292988296714495,0.0029336109669693914,0.00015630111106476513,0.003197849315272175,-0.003437996777474428,0.08123550790044115,0.4777356024269579,0.2998922445797833,0.99999999999945,-1.855898582917453e-11,8.128570536986602e-13,1.0485089766044604e-06],"qvel":[1.8298684851371297e-08,3.6234488920723863e-07,-1.2044300319798816e-06,1.0674009251608162e-06,-7.424583921451574e-09,7.867083872536393e-09,1.4864314218637665e-10,-1.2884724427824142e-09,1.9841936991775003e-09,-6.556083921745996e-10,1.069542907691622e-09,8.100465955047672e-10,-2.2959711321559896e-10,-6.649912018104667e-10,-1.0177392447455838e-12,-2.3237407120493346e-11,1.2730896142409039e-14,5.663323179365915e-10,-2.480488115577184e-11,2.876167669337842e-10],"joint_position_rad":[-2.0199042670269973,-1.60147788305878,1.335601459305604,-1.3049199511045186,-1.5707963251710657,-0.4491079379058455],"joint_velocity_rad_s":[1.8298684851371297e-08,3.6234488920723863e-07,-1.2044300319798816e-06,1.0674009251608162e-06,-7.424583921451574e-09,7.867083872536393e-09],"linkage_position_rad":[0.002933611067387094,0.00015630156256888847,0.003193479359830219,-0.0034292988296714495,0.0029336109669693914,0.00015630111106476513,0.003197849315272175,-0.003437996777474428],"tcp_position_m":[0.08125537519697303,0.4772357207271947,0.43499994094365324],"tcp_quaternion_wxyz":[-8.696495044665448e-09,0.7071067820090026,0.7071067803640917,2.2417366444972605e-08],"object_position_m":[0.08123550790044115,0.4777356024269579,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.855898582917453e-11,8.128570536986602e-13,1.0485089766044604e-06],"object_linear_velocity_m_s":[-1.0177392447455838e-12,-2.3237407120493346e-11,1.2730896142409039e-14],"object_angular_velocity_rad_s":[5.663323699520946e-10,-2.480369353600334e-11,2.8761676693378397e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221915486,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042631391313,-1.6109718314081103,1.3254580485718044,-1.3097463904054083,-1.5707951082782612,-0.4491079363481441,0.0],"actuator_force":[4.5625847633345984e-07,-18.988041636616344,-20.286339695586776,-2.4133263905373497,0.000609188860607901,-7.857693162804935e-09,-0.2933611078087545],"issued_joint_targets_rad":[-2.019904263125069,-1.6014778104304415,1.3356012211787023,-1.3049197387562632,-1.5707963266675056,-0.4491079363337948],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.859999999997758,"joint_targets_rad":[-2.019904263125069,-1.6014778104304415,1.3356012211787023,-1.3049197387562632,-1.5707963266675056,-0.4491079363337948],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.879999999997747,"qpos":[-2.0199042666767837,-1.6014778761676631,1.3356014364319924,-1.3049199308242234,-1.5707963253133754,-0.4491079377552335,0.0029336110758349005,0.00015630155928348407,0.003193479375491786,-0.0034292988433040706,0.0029336109788493077,0.0001563011116895169,0.003197849320332779,-0.0034379967870368003,0.08123550790041467,0.477735602426354,0.2998922445797833,0.99999999999945,-1.93004287014954e-11,8.45331119513165e-13,1.0485179235848378e-06],"qvel":[1.6718873545188427e-08,3.285646745573627e-07,-1.0896889410636686e-06,9.6641307711838e-07,-6.810158779608604e-09,7.1791398169667904e-09,-1.7783241944133262e-09,-1.2697258369585887e-08,1.254017292819183e-08,5.740356267356844e-10,2.048477559745512e-09,8.385568312832838e-09,-7.654543896865685e-09,-1.0631359743145937e-09,-1.1175249044273046e-12,-2.5515728035100054e-11,1.2725345027285912e-14,3.5861182111773856e-10,-1.5707185197970073e-11,5.25117818794534e-10],"joint_position_rad":[-2.0199042666767837,-1.6014778761676631,1.3356014364319924,-1.3049199308242234,-1.5707963253133754,-0.4491079377552335],"joint_velocity_rad_s":[1.6718873545188427e-08,3.285646745573627e-07,-1.0896889410636686e-06,9.6641307711838e-07,-6.810158779608604e-09,7.1791398169667904e-09],"linkage_position_rad":[0.0029336110758349005,0.00015630155928348407,0.003193479375491786,-0.0034292988433040706,0.0029336109788493077,0.0001563011116895169,0.003197849320332779,-0.0034379967870368003],"tcp_position_m":[0.08125537514155032,0.477235720903594,0.434999946648714],"tcp_quaternion_wxyz":[-7.920215995018232e-09,0.7071067819384328,0.7071067804346617,2.0412316296004067e-08],"object_position_m":[0.08123550790041467,0.477735602426354,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.93004287014954e-11,8.45331119513165e-13,1.0485179235848378e-06],"object_linear_velocity_m_s":[-1.1175249044273046e-12,-2.5515728035100054e-11,1.2725345027285912e-14],"object_angular_velocity_rad_s":[3.5861185405636803e-10,-1.5706433155821426e-11,5.251178187945337e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221832756,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263125069,-1.6109718313861043,1.3254580484043803,-1.3097463901798254,-1.570795108291975,-0.44910793633373997,0.0],"actuator_force":[4.1587918531149626e-07,-18.988041862752198,-20.286340179647596,-2.4133263191085916,0.0006091917160802041,-7.1672445756121306e-09,-0.2933611040849773],"issued_joint_targets_rad":[-2.019904263112332,-1.6014778103165588,1.3356012209885242,-1.304919738565022,-1.5707963266794998,-0.4491079363207404],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.879999999997747,"joint_targets_rad":[-2.019904263112332,-1.6014778103165588,1.3356012209885242,-1.304919738565022,-1.5707963266794998,-0.4491079363207404],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.899999999997736,"qpos":[-2.019904266356705,-1.6014778699190315,1.3356014157374678,-1.3049199124623936,-1.570796325443268,-0.4491079376177999,0.002933611086903729,0.00015630156831575144,0.0031934793762420323,-0.003429298853277296,0.0029336109868918015,0.00015630110453308555,0.0031978493337089416,-0.0034379967971443566,0.08123550790038904,0.4777356024257686,0.2998922445797833,0.99999999999945,-1.9524595857818792e-11,8.551471306853428e-13,1.0485277347800026e-06],"qvel":[1.528728151247546e-08,2.9792975621489235e-07,-9.858762833590467e-07,8.750059188156117e-07,-6.187932319115755e-09,6.550973471531063e-09,1.219943306577082e-09,4.0145885141761264e-09,-3.4963886852783417e-09,-7.353454320025357e-10,-2.3374987076982317e-10,-2.6471870388838483e-09,2.820476141520782e-09,-2.802150591948784e-10,-1.2604075302304353e-12,-2.877809809447624e-11,1.2772529505832479e-14,2.7058446845679017e-11,-1.1854022261924213e-12,9.587349245533227e-10],"joint_position_rad":[-2.019904266356705,-1.6014778699190315,1.3356014157374678,-1.3049199124623936,-1.570796325443268,-0.4491079376177999],"joint_velocity_rad_s":[1.528728151247546e-08,2.9792975621489235e-07,-9.858762833590467e-07,8.750059188156117e-07,-6.187932319115755e-09,6.550973471531063e-09],"linkage_position_rad":[0.002933611086903729,0.00015630156831575144,0.0031934793762420323,-0.003429298853277296,0.0029336109868918015,0.00015630110453308555,0.0031978493337089416,-0.0034379967971443566],"tcp_position_m":[0.08125537509027674,0.4772357210636296,0.4349999518024017],"tcp_quaternion_wxyz":[-7.21280271858289e-09,0.7071067818738581,0.7071067804992361,1.8585454109881786e-08],"object_position_m":[0.08123550790038904,0.4777356024257686,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9524595857818792e-11,8.551471306853428e-13,1.0485277347800026e-06],"object_linear_velocity_m_s":[-1.2604075302304353e-12,-2.877809809447624e-11,1.2772529505832479e-14],"object_angular_velocity_rad_s":[2.70584493331134e-11,-1.185345445688033e-12,9.58734924553322e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221791356,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263112332,-1.61097183136644,1.325458048252797,-1.309746389975541,-1.5707951083044016,-0.44910793632069046,0.0],"actuator_force":[3.7383369999588467e-07,-18.988042066719572,-20.286340618828035,-2.413326257165636,0.0006091882264627202,-6.542620667460142e-09,-0.2933611086207437],"issued_joint_targets_rad":[-2.0199042631007953,-1.6014778102134666,1.3356012208163748,-1.30491973839191,-1.5707963266903644,-0.4491079363089148],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.899999999997736,"joint_targets_rad":[-2.0199042631007953,-1.6014778102134666,1.3356012208163748,-1.30491973839191,-1.5707963266903644,-0.4491079363089148],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.919999999997724,"qpos":[-2.0199042660642,-1.6014778642530567,1.3356013970144067,-1.3049198958375858,-1.5707963255618698,-0.4491079374924,0.0029336110944855227,0.00015630156136010797,0.003193479390381616,-0.0034292988603323586,0.002933610995736884,0.00015630110872967323,0.003197849335891473,-0.0034379968072926854,0.0812355079003644,0.4777356024252064,0.2998922445797833,0.99999999999945,-1.8964254626672463e-11,8.306040573730238e-13,1.0485380109818882e-06],"qvel":[1.3970222744420337e-08,2.701477879853384e-07,-8.919573717109913e-07,7.922317991139754e-07,-5.646408503785866e-09,5.9773542057784835e-09,6.50659706082898e-10,2.064789384690349e-09,-1.4401021646500108e-09,-7.383503246050021e-10,3.210898185948536e-10,-1.371734300716756e-09,1.6261237401862115e-09,-3.028051187087879e-10,-1.4853133754519803e-12,-3.3913220571128806e-11,1.28086117541328e-14,-4.768601781346556e-10,2.08862831456958e-11,1.7504094855722639e-09],"joint_position_rad":[-2.0199042660642,-1.6014778642530567,1.3356013970144067,-1.3049198958375858,-1.5707963255618698,-0.4491079374924],"joint_velocity_rad_s":[1.3970222744420337e-08,2.701477879853384e-07,-8.919573717109913e-07,7.922317991139754e-07,-5.646408503785866e-09,5.9773542057784835e-09],"linkage_position_rad":[0.0029336110944855227,0.00015630156136010797,0.003193479390381616,-0.0034292988603323586,0.002933610995736884,0.00015630110872967323,0.003197849335891473,-0.0034379968072926854],"tcp_position_m":[0.08125537504287794,0.47723572120881314,0.4349999564580316],"tcp_quaternion_wxyz":[-6.56817199314592e-09,0.7071067818147774,0.7071067805583169,1.6921084540654983e-08],"object_position_m":[0.0812355079003644,0.4777356024252064,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8964254626672463e-11,8.306040573730238e-13,1.0485380109818882e-06],"object_linear_velocity_m_s":[-1.4853133754519803e-12,-3.3913220571128806e-11,1.28086117541328e-14],"object_angular_velocity_rad_s":[-4.768602219308226e-10,2.088528319999489e-11,1.7504094855722628e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221722441,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042631007953,-1.6109718313488692,1.3254580481155553,-1.309746389790546,-1.5707951083156608,-0.44910793630886936,0.0],"actuator_force":[3.3871992854983546e-07,-18.988042250740364,-20.28634101475427,-2.4133261996599913,0.0006091877452263361,-5.970065330984653e-09,-0.293361109369868],"issued_joint_targets_rad":[-2.0199042630903454,-1.6014778101201437,1.3356012206605459,-1.3049197382352078,-1.5707963267002063,-0.4491079362982007],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.919999999997724,"joint_targets_rad":[-2.0199042630903454,-1.6014778101201437,1.3356012206605459,-1.3049197382352078,-1.5707963267002063,-0.4491079362982007],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.939999999997713,"qpos":[-2.0199042657969097,-1.6014778591154728,1.335601380074975,-1.3049198807854823,-1.5707963256701338,-0.44910793737798754,0.0029336111027537296,0.000156301562660577,0.0031934793955635185,-0.0034292988673084997,0.0029336110021149467,0.00015630110757925537,0.0031978493421360994,-0.003437996815384195,0.08123550790033991,0.477735602424647,0.2998922445797833,0.99999999999945,-1.843420551062693e-11,8.073892413308831e-13,1.04854971069095e-06],"qvel":[1.2762682098055324e-08,2.44953427848736e-07,-8.069879068918049e-07,7.172820689435799e-07,-5.162518213194029e-09,5.453604780148764e-09,-5.87846944669439e-10,-5.117573223352346e-09,5.357445979217493e-09,-1.2061666974256504e-11,1.2641148826653276e-09,3.192917492229835e-09,-2.5611844497887168e-09,-7.075956471559369e-10,-1.8685970626882154e-12,-4.266465499255171e-11,1.2811387311694363e-14,-1.2071691513369166e-09,5.2873037524137246e-11,3.1958044938409334e-09],"joint_position_rad":[-2.0199042657969097,-1.6014778591154728,1.335601380074975,-1.3049198807854823,-1.5707963256701338,-0.44910793737798754],"joint_velocity_rad_s":[1.2762682098055324e-08,2.44953427848736e-07,-8.069879068918049e-07,7.172820689435799e-07,-5.162518213194029e-09,5.453604780148764e-09],"linkage_position_rad":[0.0029336111027537296,0.000156301562660577,0.0031934793955635185,-0.0034292988673084997,0.0029336110021149467,0.00015630110757925537,0.0031978493421360994,-0.003437996815384195],"tcp_position_m":[0.081255374999068,0.47723572134051745,0.4349999606637549],"tcp_quaternion_wxyz":[-5.9808005122106185e-09,0.707106781760727,0.7071067806123676,1.5404850401153427e-08],"object_position_m":[0.08123550790033991,0.477735602424647,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.843420551062693e-11,8.073892413308831e-13,1.04854971069095e-06],"object_linear_velocity_m_s":[-1.8685970626882154e-12,-4.266465499255171e-11,1.2811387311694363e-14],"object_angular_velocity_rad_s":[-1.2071692622091176e-09,5.287050608811642e-11,3.1958044938409317e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221684837,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630903454,-1.6109718313331716,1.3254580479912996,-1.309746389623018,-1.5707951083258633,-0.4491079362981593,0.0],"actuator_force":[3.080558599322103e-07,-18.988042416769076,-20.286341372187962,-2.4133261469746685,0.0006091883871022219,-5.446366913020029e-09,-0.29336110862477355],"issued_joint_targets_rad":[-2.019904263080881,-1.6014778100356644,1.3356012205194905,-1.304919738093361,-1.570796326709122,-0.4491079362884943],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.939999999997713,"joint_targets_rad":[-2.019904263080881,-1.6014778100356644,1.3356012205194905,-1.304919738093361,-1.570796326709122,-0.4491079362884943],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.959999999997702,"qpos":[-2.0199042655526704,-1.6014778544570625,1.335601364749238,-1.3049198671572966,-1.5707963257689077,-0.4491079372736063,0.0029336111107784867,0.00015630157345643083,0.0031934793934370433,-0.0034292988773061872,0.0029336110084888455,0.00015630110013431576,0.0031978493533906106,-0.0034379968215512272,0.08123550790031552,0.47773560242409024,0.2998922445797833,0.99999999999945,-1.717136231550397e-11,7.520774434742917e-13,1.0485618331394059e-06],"qvel":[1.1664376806835636e-08,2.2210597871442924e-07,-7.301112635270196e-07,6.494297917129301e-07,-4.706911140996219e-09,4.975435816897945e-09,1.25419380125782e-09,4.408046194690751e-09,-4.036395534337473e-09,-6.123782748536e-10,-5.447036423081314e-10,-2.7751232934496796e-09,2.8006000570929683e-09,-7.162460237514948e-11,-9.15896824204657e-13,-2.091217134223414e-11,1.2808611754132801e-14,6.857460588976331e-10,-3.003533137381906e-11,3.462392799248183e-10],"joint_position_rad":[-2.0199042655526704,-1.6014778544570625,1.335601364749238,-1.3049198671572966,-1.5707963257689077,-0.4491079372736063],"joint_velocity_rad_s":[1.1664376806835636e-08,2.2210597871442924e-07,-7.301112635270196e-07,6.494297917129301e-07,-4.706911140996219e-09,4.975435816897945e-09],"linkage_position_rad":[0.0029336111107784867,0.00015630157345643083,0.0031934793934370433,-0.0034292988773061872,0.0029336110084888455,0.00015630110013431576,0.0031978493533906106,-0.0034379968215512272],"tcp_position_m":[0.08125537495857141,0.47723572145998944,0.4349999644630652],"tcp_quaternion_wxyz":[-5.445656917058364e-09,0.7071067817112798,0.7071067806618149,1.4023643836531592e-08],"object_position_m":[0.08123550790031552,0.47773560242409024,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.717136231550397e-11,7.520774434742917e-13,1.0485618331394059e-06],"object_linear_velocity_m_s":[-9.15896824204657e-13,-2.091217134223414e-11,1.2808611754132801e-14],"object_angular_velocity_rad_s":[6.857461218844499e-10,-3.003389326757303e-11,3.462392799248181e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221669294,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263080881,-1.6109718313191486,1.3254580478788014,-1.309746389471309,-1.570795108335108,-0.44910793628845663,0.0],"actuator_force":[2.7782834877143614e-07,-18.988042566563763,-20.2863416963678,-2.413326099985511,0.0006091875910669842,-4.96876850775152e-09,-0.2933611095108174],"issued_joint_targets_rad":[-2.019904263072308,-1.6014778099591902,1.3356012203918075,-1.3049197379649604,-1.570796326717198,-0.4491079362797013],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.959999999997702,"joint_targets_rad":[-2.019904263072308,-1.6014778099591902,1.3356012203918075,-1.3049197379649604,-1.570796326717198,-0.4491079362797013],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.979999999997691,"qpos":[-2.0199042653295316,-1.6014778502331866,1.3356013508834421,-1.304919854818373,-1.570796325859085,-0.4491079371783826,0.002933611116034237,0.0001563015685426533,0.003193479403661929,-0.0034292988814944025,0.00293361101539054,0.000156301105727464,0.003197849351645165,-0.0034379968290840627,0.08123550790028776,0.47773560242345675,0.2998922445797833,0.99999999999945,-1.8681911225208664e-11,8.182463024622868e-13,1.0485815100529458e-06],"qvel":[1.0657659103624982e-08,2.0138698722643894e-07,-6.605602758200689e-07,5.879936992940897e-07,-4.29339003088784e-09,4.538908041359056e-09,1.0017975846695195e-09,4.077650335671721e-09,-3.6493853242566253e-09,-7.32984314692635e-10,-3.21613848414398e-10,-2.7798227782727294e-09,2.8214987862252543e-09,3.322571875114181e-11,-1.01350067425612e-12,-2.3140437873020258e-11,1.2809999532913583e-14,6.022315638599871e-10,-2.6377411392023083e-11,6.321458741455665e-10],"joint_position_rad":[-2.0199042653295316,-1.6014778502331866,1.3356013508834421,-1.304919854818373,-1.570796325859085,-0.4491079371783826],"joint_velocity_rad_s":[1.0657659103624982e-08,2.0138698722643894e-07,-6.605602758200689e-07,5.879936992940897e-07,-4.29339003088784e-09,4.538908041359056e-09],"linkage_position_rad":[0.002933611116034237,0.0001563015685426533,0.003193479403661929,-0.0034292988814944025,0.00293361101539054,0.000156301105727464,0.003197849351645165,-0.0034379968290840627],"tcp_position_m":[0.08125537492118,0.47723572156836064,0.4349999678952601],"tcp_quaternion_wxyz":[-4.9581051724967245e-09,0.7071067816660549,0.7071067807070394,1.2765556564637591e-08],"object_position_m":[0.08123550790028776,0.47773560242345675,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8681911225208664e-11,8.182463024622868e-13,1.0485815100529458e-06],"object_linear_velocity_m_s":[-1.01350067425612e-12,-2.3140437873020258e-11,1.2809999532913583e-14],"object_angular_velocity_rad_s":[6.022316191774286e-10,-2.637614839058041e-11,6.321458741455662e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221643271,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263072308,-1.6109718313066228,1.325458047776948,-1.3097463893339252,-1.570795108343484,-0.449107936279667,0.0],"actuator_force":[2.513838808226865e-07,-18.988042701667382,-20.28634198887812,-2.4133260571461506,0.0006091871395028647,-4.5330068587645655e-09,-0.29336110997215753],"issued_joint_targets_rad":[-2.019904263064543,-1.6014778098899627,1.3356012202762293,-1.3049197378487323,-1.5707963267245135,-0.4491079362717356],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.979999999997691,"joint_targets_rad":[-2.019904263064543,-1.6014778098899627,1.3356012202762293,-1.3049197378487323,-1.5707963267245135,-0.4491079362717356],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":13.99999999999768,"qpos":[-2.0199042651256787,-1.6014778464033594,1.335601338338498,-1.304919843646743,-1.570796325941389,-0.44910793709151886,0.0029336111200866763,0.00015630156150803583,0.003193479415544748,-0.0034292988867914817,0.002933611022206962,0.00015630111093632926,0.003197849350646942,-0.003437996834978266,0.0812355079002604,0.4777356024228324,0.2998922445797833,0.99999999999945,-1.9725630936434777e-11,8.639789618078513e-13,1.0486037465405064e-06],"qvel":[9.736144548799547e-09,1.825985713337891e-07,-5.976360569347489e-07,5.323686483329146e-07,-3.915904558662579e-09,4.140426837163152e-09,5.079416661192015e-10,2.083110191124376e-09,-1.5917484846388802e-09,-6.058818049391643e-10,1.784339276347148e-10,-1.4666331345015825e-09,1.6018588548809996e-09,-1.264760282078808e-10,-1.1206354621176137e-12,-2.5586006695911793e-11,1.2818326205598274e-14,4.2454198535493505e-10,-1.8594673509032402e-11,1.1541400221068162e-09],"joint_position_rad":[-2.0199042651256787,-1.6014778464033594,1.335601338338498,-1.304919843646743,-1.570796325941389,-0.44910793709151886],"joint_velocity_rad_s":[9.736144548799547e-09,1.825985713337891e-07,-5.976360569347489e-07,5.323686483329146e-07,-3.915904558662579e-09,4.140426837163152e-09],"linkage_position_rad":[0.0029336111200866763,0.00015630156150803583,0.003193479415544748,-0.0034292988867914817,0.002933611022206962,0.00015630111093632926,0.003197849350646942,-0.003437996834978266],"tcp_position_m":[0.08125537488665689,0.47723572166665823,0.43499997099582566],"tcp_quaternion_wxyz":[-4.513949227120146e-09,0.707106781624693,0.707106780748401,1.1619680343565684e-08],"object_position_m":[0.0812355079002604,0.4777356024228324,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9725630936434777e-11,8.639789618078513e-13,1.0486037465405064e-06],"object_linear_velocity_m_s":[-1.1206354621176137e-12,-2.5586006695911793e-11,1.2818326205598274e-14],"object_angular_velocity_rad_s":[4.245420243528841e-10,-1.8593783110826405e-11,1.1541400221068156e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221596326,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263064543,-1.6109718312954353,1.325458047684732,-1.309746389209515,-1.5707951083510734,-0.44910793627170437,0.0],"actuator_force":[2.2781387087889016e-07,-18.988042823580145,-20.28634225310907,-2.4133260182507,0.0006091867483064561,-4.135443987252074e-09,-0.2933611105465599],"issued_joint_targets_rad":[-2.0199042630575095,-1.601477809827295,1.3356012201716085,-1.304919737743522,-1.5707963267311407,-0.44910793626451906],"issued_gripper_0_255":0.0,"command":{"t_seconds":13.99999999999768,"joint_targets_rad":[-2.0199042630575095,-1.601477809827295,1.3356012201716085,-1.304919737743522,-1.5707963267311407,-0.44910793626451906],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.019999999997669,"qpos":[-2.019904264939458,-1.6014778429308616,1.3356013269885656,-1.3049198335319867,-1.570796326016501,-0.44910793701228563,0.0029336111244420604,0.0001563015586744423,0.0031934794237721133,-0.003429298892742585,0.0029336110275200076,0.00015630111192067278,0.0031978493526306244,-0.00343799683974263,0.08123550790023369,0.4777356024222228,0.2998922445797833,0.99999999999945,-2.020075960445251e-11,8.848151446067224e-13,1.0486283211682082e-06],"qvel":[8.890568774744669e-09,1.6556104384953948e-07,-5.407078037739346e-07,4.819998852855099e-07,-3.5826660159955054e-09,3.776690423069024e-09,-6.938042504588658e-10,-4.9596060663986956e-09,5.102098609882313e-09,1.4533418075986332e-10,1.1307468675405203e-09,3.2373545437234697e-09,-2.764839806692578e-09,-5.954165709399478e-10,-1.2604189460546647e-12,-2.8776579010263634e-11,1.281416286925593e-14,1.227334162401393e-10,-5.3740241079089635e-12,2.1071686705621345e-09],"joint_position_rad":[-2.019904264939458,-1.6014778429308616,1.3356013269885656,-1.3049198335319867,-1.570796326016501,-0.44910793701228563],"joint_velocity_rad_s":[8.890568774744669e-09,1.6556104384953948e-07,-5.407078037739346e-07,4.819998852855099e-07,-3.5826660159955054e-09,3.776690423069024e-09],"linkage_position_rad":[0.0029336111244420604,0.0001563015586744423,0.0031934794237721133,-0.003429298892742585,0.0029336110275200076,0.00015630111192067278,0.0031978493526306244,-0.00343799683974263],"tcp_position_m":[0.08125537485479135,0.47723572175581513,0.4349999737968181],"tcp_quaternion_wxyz":[-4.109352844083248e-09,0.7071067815868671,0.7071067807862269,1.0576073839170946e-08],"object_position_m":[0.08123550790023369,0.4777356024222228,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.020075960445251e-11,8.848151446067224e-13,1.0486283211682082e-06],"object_linear_velocity_m_s":[-1.2604189460546647e-12,-2.8776579010263634e-11,1.281416286925593e-14],"object_angular_velocity_rad_s":[1.2273342751430592e-10,-5.373766619291877e-12,2.1071686705621337e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322155305,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630575095,-1.6109718312854444,1.325458047601242,-1.3097463890968526,-1.5707951083579506,-0.44910793626449064,0.0],"actuator_force":[2.0766901798197068e-07,-18.988042933583074,-20.28634249152583,-2.4133259824214974,0.0006091875418405834,-3.771560841414612e-09,-0.2933611097828165],"issued_joint_targets_rad":[-2.019904263051139,-1.6014778097705664,1.3356012200769063,-1.304919737648286,-1.5707963267371436,-0.4491079362579813],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.019999999997669,"joint_targets_rad":[-2.019904263051139,-1.6014778097705664,1.3356012200769063,-1.304919737648286,-1.5707963267371436,-0.4491079362579813],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.039999999997658,"qpos":[-2.0199042647693464,-1.6014778397823919,1.3356013167197969,-1.304919824374109,-1.5707963260849995,-0.449107936940017,0.0029336111312956,0.0001563015725044883,0.003193479415631683,-0.0034292988993926718,0.002933611030443648,0.0001563011020342279,0.003197849365000358,-0.003437996843833418,0.08123550790020792,0.4777356024216341,0.2998922445797833,0.99999999999945,-1.9895730284808416e-11,8.714720318926074e-13,1.0486544313903892e-06],"qvel":[8.12405852801565e-09,1.50111355265732e-07,-4.892003763941492e-07,4.36404036610897e-07,-3.263667796868068e-09,3.4447073295302517e-09,1.2189517708525207e-09,4.587498516234736e-09,-4.353261659876487e-09,-4.820100187234581e-10,-7.296408719394703e-10,-3.0294767928559744e-09,3.004588685265905e-09,3.8377375404852524e-11,-1.4703569439841986e-12,-3.356886476228238e-11,1.2886327365856566e-14,-3.470410202662937e-10,1.5203295937467546e-11,3.847157623913117e-09],"joint_position_rad":[-2.0199042647693464,-1.6014778397823919,1.3356013167197969,-1.304919824374109,-1.5707963260849995,-0.449107936940017],"joint_velocity_rad_s":[8.12405852801565e-09,1.50111355265732e-07,-4.892003763941492e-07,4.36404036610897e-07,-3.263667796868068e-09,3.4447073295302517e-09],"linkage_position_rad":[0.0029336111312956,0.0001563015725044883,0.003193479415631683,-0.0034292988993926718,0.002933611030443648,0.0001563011020342279,0.003197849365000358,-0.003437996843833418],"tcp_position_m":[0.08125537482536983,0.4772357218366792,0.43499997632719156],"tcp_quaternion_wxyz":[-3.740834309895122e-09,0.7071067815522746,0.7071067808208201,9.625653241887579e-09],"object_position_m":[0.08123550790020792,0.4777356024216341,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9895730284808416e-11,8.714720318926074e-13,1.0486544313903892e-06],"object_linear_velocity_m_s":[-1.4703569439841986e-12,-3.356886476228238e-11,1.2886327365856566e-14],"object_angular_velocity_rad_s":[-3.470410521448324e-10,1.520256823831058e-11,3.847157623913115e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221557283,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263051139,-1.6109718312765235,1.3254580475256523,-1.3097463889948298,-1.5707951083641818,-0.4491079362579554,0.0],"actuator_force":[1.8679156710277312e-07,-18.988043032805308,-20.286342708138363,-2.4133259507640332,0.000609186775704984,-3.439936335780658e-09,-0.29336111053351693],"issued_joint_targets_rad":[-2.0199042630453694,-1.6014778097192133,1.3356012199911818,-1.3049197375620776,-1.5707963267425815,-0.4491079362520579],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.039999999997658,"joint_targets_rad":[-2.0199042630453694,-1.6014778097192133,1.3356012199911818,-1.3049197375620776,-1.5707963267425815,-0.4491079362520579],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.059999999997647,"qpos":[-2.019904264613984,-1.6014778369277487,1.3356013074291833,-1.3049198160826283,-1.5707963261475328,-0.44910793687410483,0.002933611133289255,0.0001563015577604398,0.0031934794331469774,-0.0034292989014036174,0.0029336110365123587,0.00015630111063301143,0.0031978493611260644,-0.003437996850241316,0.08123550790018344,0.4777356024210754,0.2998922445797833,0.99999999999945,-1.8474784398519474e-11,8.092409188376686e-13,1.0486801457371968e-06],"qvel":[7.421407386878585e-09,1.3610176731810255e-07,-4.4260092570350906e-07,3.9512011646272463e-07,-2.973709501848844e-09,3.1417288395318984e-09,9.315092604742694e-10,4.756288643803314e-09,-4.201061632155143e-09,-8.499144272137693e-10,-3.7598668627888123e-10,-3.0486330084625285e-09,2.9064734805465666e-09,1.3593918985561315e-10,-1.8124493685028588e-12,-4.137856511512202e-11,1.2891878480979693e-14,-1.0472632556394868e-09,4.587513451194276e-11,7.023939016084614e-09],"joint_position_rad":[-2.019904264613984,-1.6014778369277487,1.3356013074291833,-1.3049198160826283,-1.5707963261475328,-0.44910793687410483],"joint_velocity_rad_s":[7.421407386878585e-09,1.3610176731810255e-07,-4.4260092570350906e-07,3.9512011646272463e-07,-2.973709501848844e-09,3.1417288395318984e-09],"linkage_position_rad":[0.002933611133289255,0.0001563015577604398,0.0031934794331469774,-0.0034292989014036174,0.0029336110365123587,0.00015630111063301143,0.0031978493611260644,-0.003437996850241316],"tcp_position_m":[0.08125537479824421,0.4772357219100183,0.43499997861311035],"tcp_quaternion_wxyz":[-3.405171718375936e-09,0.7071067815206491,0.7071067808524452,8.760183820272135e-09],"object_position_m":[0.08123550790018344,0.4777356024210754,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8474784398519474e-11,8.092409188376686e-13,1.0486801457371968e-06],"object_linear_velocity_m_s":[-1.8124493685028588e-12,-4.137856511512202e-11,1.2891878480979693e-14],"object_angular_velocity_rad_s":[-1.0472633518425006e-09,4.5872938283006284e-11,7.0239390160846115e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221478743,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630453694,-1.6109718312685581,1.325458047457215,-1.3097463889024408,-1.5707951083698275,-0.4491079362520344,0.0],"actuator_force":[1.6866624719114043e-07,-18.988043122325962,-20.286342903566037,-2.413325921917817,0.0006091862237553869,-3.1376714559883112e-09,-0.29336111126769354],"issued_joint_targets_rad":[-2.019904263040143,-1.6014778096727262,1.3356012199135843,-1.304919737484041,-1.5707963267475076,-0.4491079362466923],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.059999999997647,"joint_targets_rad":[-2.019904263040143,-1.6014778096727262,1.3356012199135843,-1.304919737484041,-1.5707963267475076,-0.4491079362466923],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.079999999997636,"qpos":[-2.019904264472091,-1.601477834339542,1.3356012990235422,-1.3049198085755713,-1.5707963262045959,-0.4491079368139933,0.002933611138004183,0.0001563015632765742,0.0031934794314164277,-0.0034292989054415233,0.0029336110388532,0.00015630110722441882,0.003197849365834956,-0.0034379968535901222,0.08123550790015961,0.47773560242053154,0.2998922445797833,0.99999999999945,-1.668479351918591e-11,7.308390947078355e-13,1.0487067892108875e-06],"qvel":[6.775780000615677e-09,1.2339819396393164e-07,-4.004425089374066e-07,3.5773763065252174e-07,-2.715171648189631e-09,2.865229876661286e-09,1.152218632791282e-10,9.198486916490173e-11,1.8855888423677013e-10,-2.1749221884592873e-10,3.6826948224750827e-10,-8.1381343549171e-11,2.9005929323151436e-10,-2.371320320381507e-10,-8.949100066500152e-13,-2.0430983945230992e-11,1.2968206313922674e-14,6.859059292760524e-10,-3.0045198115186783e-11,7.609862133908165e-10],"joint_position_rad":[-2.019904264472091,-1.601477834339542,1.3356012990235422,-1.3049198085755713,-1.5707963262045959,-0.4491079368139933],"joint_velocity_rad_s":[6.775780000615677e-09,1.2339819396393164e-07,-4.004425089374066e-07,3.5773763065252174e-07,-2.715171648189631e-09,2.865229876661286e-09],"linkage_position_rad":[0.002933611138004183,0.0001563015632765742,0.0031934794314164277,-0.0034292989054415233,0.0029336110388532,0.00015630110722441882,0.003197849365834956,-0.0034379968535901222],"tcp_position_m":[0.08125537477322992,0.4772357219765293,0.4349999806781976],"tcp_quaternion_wxyz":[-3.0994612224199694e-09,0.707106781491735,0.7071067808813595,7.972109253395971e-09],"object_position_m":[0.08123550790015961,0.47773560242053154,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.668479351918591e-11,7.308390947078355e-13,1.0487067892108875e-06],"object_linear_velocity_m_s":[-8.949100066500152e-13,-2.0430983945230992e-11,1.2968206313922674e-14],"object_angular_velocity_rad_s":[6.859059922928622e-10,-3.004375946131731e-11,7.609862133908162e-10],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221481097,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263040143,-1.6109718312614472,1.3254580473952535,-1.3097463888187766,-1.5707951083749438,-0.4491079362466709,0.0],"actuator_force":[1.5358364180428907e-07,-18.988043203087727,-20.286343079573726,-2.4133258953656878,0.0006091863432402533,-2.861753500837949e-09,-0.2933611112603259],"issued_joint_targets_rad":[-2.0199042630354094,-1.6014778096306443,1.3356012198433433,-1.3049197374134032,-1.5707963267519698,-0.44910793624183126],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.079999999997636,"joint_targets_rad":[-2.0199042630354094,-1.6014778096306443,1.3356012198433433,-1.3049197374134032,-1.5707963267519698,-0.44910793624183126],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.099999999997625,"qpos":[-2.019904264342507,-1.6014778319929313,1.3356012914185658,-1.3049198017787267,-1.5707963262566467,-0.44910793675917504,0.0029336111407868033,0.00015630156158552994,0.0031934794365683934,-0.0034292989096303787,0.002933611042632994,0.0001563011080316878,0.0031978493672115654,-0.0034379968569219176,0.08123550790013316,0.47773560241992735,0.2998922445797833,0.99999999999945,-1.7752238415814013e-11,7.77601146263489e-13,1.0487500363047136e-06],"qvel":[6.1826715912600884e-09,1.1187911463082384e-07,-3.6230070965679076e-07,3.238812281215053e-07,-2.5034382547671937e-09,2.6128858366927236e-09,-1.6093118999559459e-09,-9.486017958667107e-09,9.168650960616754e-09,6.505025068175878e-10,1.2974102533618558e-09,6.060239669191038e-09,-5.8998018237789946e-09,-5.198635706566788e-10,-9.664456374227754e-13,-2.2064017381682866e-11,1.2977920765388146e-14,5.858926285374717e-10,-2.5664380556078752e-11,1.3893679957869304e-09],"joint_position_rad":[-2.019904264342507,-1.6014778319929313,1.3356012914185658,-1.3049198017787267,-1.5707963262566467,-0.44910793675917504],"joint_velocity_rad_s":[6.1826715912600884e-09,1.1187911463082384e-07,-3.6230070965679076e-07,3.238812281215053e-07,-2.5034382547671937e-09,2.6128858366927236e-09],"linkage_position_rad":[0.0029336111407868033,0.00015630156158552994,0.0031934794365683934,-0.0034292989096303787,0.002933611042632994,0.0001563011080316878,0.0031978493672115654,-0.0034379968569219176],"tcp_position_m":[0.08125537475016364,0.4772357220368465,0.43499998254379524],"tcp_quaternion_wxyz":[-2.8210543370276834e-09,0.7071067814653014,0.7071067809077933,7.254546372687926e-09],"object_position_m":[0.08123550790013316,0.47773560241992735,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.7752238415814013e-11,7.77601146263489e-13,1.0487500363047136e-06],"object_linear_velocity_m_s":[-9.664456374227754e-13,-2.2064017381682866e-11,1.2977920765388146e-14],"object_angular_velocity_rad_s":[5.858926823693836e-10,-2.566315159686261e-11,1.3893679957869302e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221455785,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630354094,-1.6109718312550996,1.3254580473391555,-1.3097463887430143,-1.5707951083795795,-0.4491079362418117,0.0],"actuator_force":[1.4112629287410527e-07,-18.988043275982363,-20.28634323853703,-2.41332587026659,0.000609188877433553,-2.6069244540849468e-09,-0.2933611076114816],"issued_joint_targets_rad":[-2.0199042630311217,-1.6014778095925506,1.3356012197797622,-1.304919737349462,-1.5707963267560119,-0.4491079362374272],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.099999999997625,"joint_targets_rad":[-2.0199042630311217,-1.6014778095925506,1.3356012197797622,-1.304919737349462,-1.5707963267560119,-0.4491079362374272],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.119999999997614,"qpos":[-2.0199042642241727,-1.6014778298653907,1.3356012845379763,-1.3049197956249057,-1.5707963263041094,-0.44910793670918675,0.0029336111434194226,0.00015630156217847792,0.0031934794400743163,-0.0034292989140002287,0.002933611046646839,0.00015630110726723282,0.003197849370089048,-0.003437996860002755,0.08123550790010736,0.4777356024193383,0.2998922445797833,0.99999999999945,-1.854952097284793e-11,8.125266924355456e-13,1.0487989089204992e-06],"qvel":[5.652256310790792e-09,1.0143405937537237e-07,-3.2778881231761356e-07,2.932516016553956e-07,-2.2589976252711347e-09,2.3826800607294725e-09,1.1862042681769346e-09,5.4641922266785536e-09,-5.111491239890809e-09,-6.48140128379773e-10,-7.974090784181022e-10,-3.429776680129232e-09,3.2418186470629565e-09,2.2097282736564146e-10,-1.0554421722547081e-12,-2.4095685906755933e-11,1.301955412881159e-14,4.079995192198302e-10,-1.787206468036261e-11,2.536634420029075e-09],"joint_position_rad":[-2.0199042642241727,-1.6014778298653907,1.3356012845379763,-1.3049197956249057,-1.5707963263041094,-0.44910793670918675],"joint_velocity_rad_s":[5.652256310790792e-09,1.0143405937537237e-07,-3.2778881231761356e-07,2.932516016553956e-07,-2.2589976252711347e-09,2.3826800607294725e-09],"linkage_position_rad":[0.0029336111434194226,0.00015630156217847792,0.0031934794400743163,-0.0034292989140002287,0.002933611046646839,0.00015630110726723282,0.003197849370089048,-0.003437996860002755],"tcp_position_m":[0.08125537472889592,0.4772357220915453,0.4349999842291832],"tcp_quaternion_wxyz":[-2.567533632509978e-09,0.7071067814411375,0.7071067809319572,6.6012232447408434e-09],"object_position_m":[0.08123550790010736,0.4777356024193383,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.854952097284793e-11,8.125266924355456e-13,1.0487989089204992e-06],"object_linear_velocity_m_s":[-1.0554421722547081e-12,-2.4095685906755933e-11,1.301955412881159e-14],"object_angular_velocity_rad_s":[4.079995567114585e-10,-1.7871208767315388e-11,2.536634420029075e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221431377,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630311217,-1.6109718312494343,1.3254580472883666,-1.3097463886744072,-1.5707951083837792,-0.4491079362374094,0.0],"actuator_force":[1.2519967640400864e-07,-18.988043341710636,-20.28634338369511,-2.4133258499109616,0.0006091860648211878,-2.379351826675702e-09,-0.293361111447289],"issued_joint_targets_rad":[-2.019904263027238,-1.601477809558067,1.3356012197222087,-1.304919737291582,-1.5707963267596732,-0.44910793623343814],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.119999999997614,"joint_targets_rad":[-2.019904263027238,-1.601477809558067,1.3356012197222087,-1.304919737291582,-1.5707963267596732,-0.44910793623343814],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.139999999997602,"qpos":[-2.0199042641161298,-1.6014778279364907,1.335601278312764,-1.3049197900533025,-1.570796326347438,-0.4491079366636056,0.0029336111451141603,0.00015630155388410112,0.003193479450039082,-0.003429298914913969,0.0029336110501111093,0.0001563011123463819,0.003197849367647446,-0.003437996863990039,0.08123550790008077,0.4777356024187317,0.2998922445797833,0.99999999999945,-1.996089064091366e-11,8.743445464361492e-13,1.0488603158467e-06],"qvel":[5.161457815105212e-09,9.196307662571971e-08,-2.9656683194660507e-07,2.6550927953343046e-07,-2.056410764143344e-09,2.172619700445873e-09,6.704873266831108e-10,3.7733106821769055e-09,-3.318549132164525e-09,-6.452830471467461e-10,-1.8849391411851284e-10,-2.3783038647699723e-09,2.340743500508984e-09,6.68552528813473e-11,-1.213175892544269e-12,-2.769696059902924e-11,1.3062575271015816e-14,1.5896439924310854e-10,-6.9635747159555756e-12,4.631253967894776e-09],"joint_position_rad":[-2.0199042641161298,-1.6014778279364907,1.335601278312764,-1.3049197900533025,-1.570796326347438,-0.4491079366636056],"joint_velocity_rad_s":[5.161457815105212e-09,9.196307662571971e-08,-2.9656683194660507e-07,2.6550927953343046e-07,-2.056410764143344e-09,2.172619700445873e-09],"linkage_position_rad":[0.0029336111451141603,0.00015630155388410112,0.003193479450039082,-0.003429298914913969,0.0029336110501111093,0.0001563011123463819,0.003197849367647446,-0.003437996863990039],"tcp_position_m":[0.08125537470931175,0.47723572214114585,0.4349999857517799],"tcp_quaternion_wxyz":[-2.3366678798738666e-09,0.7071067814190537,0.7071067809540406,6.006444420952544e-09],"object_position_m":[0.08123550790008077,0.4777356024187317,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.996089064091366e-11,8.743445464361492e-13,1.0488603158467e-06],"object_linear_velocity_m_s":[-1.213175892544269e-12,-2.769696059902924e-11,1.3062575271015816e-14],"object_angular_velocity_rad_s":[1.589644138584916e-10,-6.9632410681523415e-12,4.631253967894776e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221388962,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263027238,-1.6109718312443788,1.3254580472423836,-1.309746388612279,-1.5707951083875846,-0.449107936233422,0.0],"actuator_force":[1.1320025805616751e-07,-18.988043401006962,-20.286343514027976,-2.4133258304162837,0.0006091855677823332,-2.1701680452679284e-09,-0.29336111217123056],"issued_joint_targets_rad":[-2.0199042630237205,-1.6014778095268505,1.335601219670111,-1.3049197372391887,-1.5707963267629899,-0.4491079362298238],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.139999999997602,"joint_targets_rad":[-2.0199042630237205,-1.6014778095268505,1.335601219670111,-1.3049197372391887,-1.5707963267629899,-0.4491079362298238],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.159999999997591,"qpos":[-2.0199042640174794,-1.6014778261877045,1.3356012726805002,-1.3049197850088214,-1.570796326386962,-0.4491079366220453,0.0029336111485388557,0.00015630156013128515,0.0031934794467614073,-0.0034292989185220665,0.002933611051288183,0.00015630110843310111,0.003197849371966905,-0.0034379968656495573,0.08123550790005453,0.47773560241813307,0.2998922445797833,0.99999999999945,-2.0337316723762036e-11,8.908231981982426e-13,1.0489263592803898e-06],"qvel":[4.708724937824523e-09,8.33755334038951e-08,-2.683208597325634e-07,2.403839996030398e-07,-1.8862259905763717e-09,1.980961267869988e-09,-4.927279516429424e-10,-3.12417485561028e-09,3.2000459365431767e-09,1.7675254905838577e-10,6.81441351874321e-10,1.958982350154065e-09,-1.762729053013143e-09,-3.2902579426585827e-10,-1.4315843414400064e-12,-3.2683651229162916e-11,1.3125025316150978e-14,-2.5321589103458687e-10,1.1090460571224199e-11,8.455501012960896e-09],"joint_position_rad":[-2.0199042640174794,-1.6014778261877045,1.3356012726805002,-1.3049197850088214,-1.570796326386962,-0.4491079366220453],"joint_velocity_rad_s":[4.708724937824523e-09,8.33755334038951e-08,-2.683208597325634e-07,2.403839996030398e-07,-1.8862259905763717e-09,1.980961267869988e-09],"linkage_position_rad":[0.0029336111485388557,0.00015630156013128515,0.0031934794467614073,-0.0034292989185220665,0.002933611051288183,0.00015630110843310111,0.003197849371966905,-0.0034379968656495573],"tcp_position_m":[0.08125537469126855,0.4772357221861218,0.43499998712731225],"tcp_quaternion_wxyz":[-2.126454635858729e-09,0.7071067813988695,0.7071067809742252,5.464980430839235e-09],"object_position_m":[0.08123550790005453,0.47773560241813307,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-2.0337316723762036e-11,8.908231981982426e-13,1.0489263592803898e-06],"object_linear_velocity_m_s":[-1.4315843414400064e-12,-3.2683651229162916e-11,1.3125025316150978e-14],"object_angular_velocity_rad_s":[-2.5321591428511823e-10,1.1089929705478828e-11,8.455501012960897e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221399225,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630237205,-1.610971831239867,1.3254580472007513,-1.3097463885560188,-1.5707951083910332,-0.4491079362298091,0.0],"actuator_force":[1.0402800398878753e-07,-18.988043454538456,-20.286343631154068,-2.413325811998561,0.0006091865869848334,-1.9780372895183973e-09,-0.29336111093491896],"issued_joint_targets_rad":[-2.0199042630205346,-1.6014778094985924,1.3356012196229534,-1.3049197371917631,-1.5707963267659946,-0.44910793622654954],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.159999999997591,"joint_targets_rad":[-2.0199042630205346,-1.6014778094985924,1.3356012196229534,-1.3049197371917631,-1.5707963267659946,-0.44910793622654954],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.17999999999758,"qpos":[-2.0199042639274083,-1.6014778246022323,1.3356012675846993,-1.3049197804415844,-1.5707963264229792,-0.4491079365841529,0.0029336111528674835,0.00015630157073834414,0.003193479438467747,-0.003429298921468707,0.0029336110520433905,0.00015630110173853225,0.0031978493803025703,-0.003437996867804192,0.08123550790002913,0.47773560241755403,0.2998922445797833,0.99999999999945,-1.944137551721436e-11,8.515608398450769e-13,1.0489930093013241e-06],"qvel":[4.3019079595449825e-09,7.558901663770892e-08,-2.4276255842988235e-07,2.176444392166011e-07,-1.715512221445113e-09,1.806117402404918e-09,1.1884458112036397e-09,5.153896476436855e-09,-4.964081386869198e-09,-4.804932858388029e-10,-9.246830468255329e-10,-3.215910531999698e-09,3.0359973743727786e-09,2.3907231610365437e-10,-1.7591239656240731e-12,-4.0163133124689276e-11,1.3177760909820679e-14,-8.966115972940097e-10,3.926897717224775e-11,1.5437608414421672e-08],"joint_position_rad":[-2.0199042639274083,-1.6014778246022323,1.3356012675846993,-1.3049197804415844,-1.5707963264229792,-0.4491079365841529],"joint_velocity_rad_s":[4.3019079595449825e-09,7.558901663770892e-08,-2.4276255842988235e-07,2.176444392166011e-07,-1.715512221445113e-09,1.806117402404918e-09],"linkage_position_rad":[0.0029336111528674835,0.00015630157073834414,0.003193479438467747,-0.003429298921468707,0.0029336110520433905,0.00015630110173853225,0.0031978493803025703,-0.003437996867804192],"tcp_position_m":[0.08125537467463863,0.47723572222690397,0.4349999883699901],"tcp_quaternion_wxyz":[-1.9350714604550994e-09,0.7071067813804213,0.7071067809926728,4.972070087701289e-09],"object_position_m":[0.08123550790002913,0.47773560241755403,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.944137551721436e-11,8.515608398450769e-13,1.0489930093013241e-06],"object_linear_velocity_m_s":[-1.7591239656240731e-12,-4.0163133124689276e-11,1.3177760909820679e-14],"object_angular_velocity_rad_s":[-8.966116796515105e-10,3.9267096693822814e-11,1.543760841442168e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221416815,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630205346,-1.610971831235842,1.32545804716306,-1.3097463885050729,-1.5707951083941578,-0.44910793622653616,0.0],"actuator_force":[9.298400982515886e-08,-18.988043502826258,-20.286343738255255,-2.4133257961881327,0.0006091859619345996,-1.8033858850685647e-09,-0.2933611115643575],"issued_joint_targets_rad":[-2.0199042630176494,-1.6014778094730122,1.3356012195802658,-1.3049197371488328,-1.5707963267687157,-0.4491079362235837],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.17999999999758,"joint_targets_rad":[-2.0199042630176494,-1.6014778094730122,1.3356012195802658,-1.3049197371488328,-1.5707963267687157,-0.4491079362235837],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.19999999999757,"qpos":[-2.0199042638451923,-1.6014778231648392,1.3356012629742526,-1.3049197763064735,-1.5707963264558595,-0.44910793654960657,0.0029336111538871843,0.0001563015627118261,0.0031934794475130595,-0.003429298921857363,0.0029336110548672314,0.0001563011058969003,0.0031978493787619806,-0.0034379968711198933,0.08123550790000537,0.4777356024170123,0.2998922445797833,0.99999999999945,-1.6901297081907376e-11,7.402860389619599e-13,1.0490515678274044e-06],"qvel":[3.927969885044188e-09,6.852889225374218e-08,-2.1964004630133492e-07,1.970546024441928e-07,-1.5610492990363717e-09,1.64662056664133e-09,8.435787188804554e-10,4.487163223753163e-09,-4.1332021564948224e-09,-6.032673931631651e-10,-4.954368896927026e-10,-2.73717901064507e-09,2.5802476667293943e-09,1.6362570996129164e-10,-9.043618020410925e-13,-2.0647683771642357e-11,1.3301273221310227e-14,7.196909644731177e-10,-3.1524135955879926e-11,1.6725384593557025e-09],"joint_position_rad":[-2.0199042638451923,-1.6014778231648392,1.3356012629742526,-1.3049197763064735,-1.5707963264558595,-0.44910793654960657],"joint_velocity_rad_s":[3.927969885044188e-09,6.852889225374218e-08,-2.1964004630133492e-07,1.970546024441928e-07,-1.5610492990363717e-09,1.64662056664133e-09],"linkage_position_rad":[0.0029336111538871843,0.0001563015627118261,0.0031934794475130595,-0.003429298921857363,0.0029336110548672314,0.0001563011058969003,0.0031978493787619806,-0.0034379968711198933],"tcp_position_m":[0.08125537465934077,0.47723572226388167,0.43499998949265634],"tcp_quaternion_wxyz":[-1.7608189156438922e-09,0.7071067813635676,0.7071067810095268,4.52341112812508e-09],"object_position_m":[0.08123550790000537,0.4777356024170123,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.6901297081907376e-11,7.402860389619599e-13,1.0490515678274044e-06],"object_linear_velocity_m_s":[-9.043618020410925e-13,-2.0647683771642357e-11,1.3301273221310227e-14],"object_angular_velocity_rad_s":[7.196910306148987e-10,-3.152262591340515e-11,1.6725384593557033e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221370356,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630176494,-1.6109718312322514,1.3254580471289346,-1.309746388458938,-1.5707951083969882,-0.44910793622357154,0.0],"actuator_force":[8.389770300709642e-08,-18.98804354638105,-20.286343834617583,-2.4133257816923788,0.0006091855404974922,-1.6445369510620367e-09,-0.2933611121784299],"issued_joint_targets_rad":[-2.0199042630150355,-1.6014778094498567,1.3356012195416263,-1.3049197371099726,-1.5707963267711813,-0.4491079362208964],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.19999999999757,"joint_targets_rad":[-2.0199042630150355,-1.6014778094498567,1.3356012195416263,-1.3049197371099726,-1.5707963267711813,-0.4491079362208964],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.219999999997558,"qpos":[-2.0199042637701417,-1.6014778218617087,1.3356012588029285,-1.3049197725625945,-1.5707963264858542,-0.4491079365181127,0.0029336111527243944,0.00015630154848524333,0.003193479463826031,-0.0034292989239222,0.002933611059296062,0.00015630111388027386,0.0031978493721130977,-0.0034379968734427166,0.08123550789997783,0.47773560241638363,0.2998922445797833,0.99999999999945,-1.812074730915826e-11,7.936775207081799e-13,1.0491584808942432e-06],"qvel":[3.5854024157446157e-09,6.212745123234853e-08,-1.9872071897145915e-07,1.7841213654914013e-07,-1.4200241331174324e-09,1.501135852390192e-09,2.851197305506995e-10,2.0085636421965087e-09,-1.5521394458831101e-09,-5.046182807873583e-10,1.7385817119396242e-10,-1.2382221977603607e-09,1.3084746951172165e-09,-3.513258470720538e-11,-9.799163286760755e-13,-2.2373320019205864e-11,1.339009106328024e-14,6.365739404332629e-10,-2.7882791223049498e-11,3.0536324799864316e-09],"joint_position_rad":[-2.0199042637701417,-1.6014778218617087,1.3356012588029285,-1.3049197725625945,-1.5707963264858542,-0.4491079365181127],"joint_velocity_rad_s":[3.5854024157446157e-09,6.212745123234853e-08,-1.9872071897145915e-07,1.7841213654914013e-07,-1.4200241331174324e-09,1.501135852390192e-09],"linkage_position_rad":[0.0029336111527243944,0.00015630154848524333,0.003193479463826031,-0.0034292989239222,0.002933611059296062,0.00015630111388027386,0.0031978493721130977,-0.0034379968734427166],"tcp_position_m":[0.08125537464526024,0.47723572229740824,0.4349999905069032],"tcp_quaternion_wxyz":[-1.6021789709359364e-09,0.7071067813481681,0.7071067810249266,4.115042937452364e-09],"object_position_m":[0.08123550789997783,0.47773560241638363,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.812074730915826e-11,7.936775207081799e-13,1.0491584808942432e-06],"object_linear_velocity_m_s":[-9.799163286760755e-13,-2.2373320019205864e-11,1.339009106328024e-14],"object_angular_velocity_rad_s":[6.365739989436428e-10,-2.788145537842328e-11,3.0536324799864336e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130917,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630150355,-1.6109718312290493,1.3254580470980397,-1.3097463884171607,-1.5707951083995535,-0.44910793622088535,0.0],"actuator_force":[7.605149221490137e-08,-18.98804358566167,-20.286343921489788,-2.4133257684967475,0.0006091851527116887,-1.4998988717707107e-09,-0.2933611128959123],"issued_joint_targets_rad":[-2.0199042630126685,-1.6014778094288953,1.3356012195066496,-1.3049197370747965,-1.5707963267734144,-0.4491079362184623],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.219999999997558,"joint_targets_rad":[-2.0199042630126685,-1.6014778094288953,1.3356012195066496,-1.3049197370747965,-1.5707963267734144,-0.4491079362184623],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.239999999997547,"qpos":[-2.019904263701628,-1.6014778206803137,1.3356012550289025,-1.3049197691729246,-1.5707963265131972,-0.44910793648940306,0.002933611156981277,0.00015630156343419773,0.0031934794512360246,-0.0034292989269412207,0.0029336110582585504,0.00015630110531472205,0.003197849380153581,-0.0034379968739543906,0.08123550789995093,0.47773560241576907,0.2998922445797833,0.99999999999945,-1.9062936606438236e-11,8.349483499770601e-13,1.0492797814853642e-06],"qvel":[3.2663978854926475e-09,5.632349967874797e-08,-1.7979588100136907e-07,1.6151836702829007e-07,-1.3244270423376755e-09,1.368396481159793e-09,-1.5108802553781482e-09,-8.6496785908781e-09,8.225895328999763e-09,8.156602141777628e-10,1.0377902308952152e-09,5.380753511472044e-09,-5.34389249632183e-09,-4.3940816758969144e-10,-1.0684222545275047e-12,-2.439398201831765e-11,1.3465031117442439e-14,4.770027020679505e-10,-2.0892952655383726e-11,5.575161726778505e-09],"joint_position_rad":[-2.019904263701628,-1.6014778206803137,1.3356012550289025,-1.3049197691729246,-1.5707963265131972,-0.44910793648940306],"joint_velocity_rad_s":[3.2663978854926475e-09,5.632349967874797e-08,-1.7979588100136907e-07,1.6151836702829007e-07,-1.3244270423376755e-09,1.368396481159793e-09],"linkage_position_rad":[0.002933611156981277,0.00015630156343419773,0.0031934794512360246,-0.0034292989269412207,0.0029336110582585504,0.00015630110531472205,0.003197849380153581,-0.0034379968739543906],"tcp_position_m":[0.08125537463229389,0.4772357223278041,0.43499999142320245],"tcp_quaternion_wxyz":[-1.4577669693624557e-09,0.7071067813340953,0.7071067810389994,3.743357768225586e-09],"object_position_m":[0.08123550789995093,0.47773560241576907,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.9062936606438236e-11,8.349483499770601e-13,1.0492797814853642e-06],"object_linear_velocity_m_s":[-1.0684222545275047e-12,-2.439398201831765e-11,1.3465031117442439e-14],"object_angular_velocity_rad_s":[4.77002745921316e-10,-2.089195142419783e-11,5.57516172677851e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221357644,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630126685,-1.6109718312261931,1.325458047070068,-1.30974638837933,-1.570795108401878,-0.44910793621845224,0.0],"actuator_force":[7.135986379580572e-08,-18.988043621158795,-20.286343999316614,-2.413325755039409,0.0006091881023166934,-1.3642420526593924e-09,-0.2933611083965413],"issued_joint_targets_rad":[-2.0199042630105235,-1.60147780940992,1.3356012194749882,-1.3049197370429546,-1.5707963267754377,-0.4491079362162568],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.239999999997547,"joint_targets_rad":[-2.0199042630105235,-1.60147780940992,1.3356012194749882,-1.3049197370429546,-1.5707963267754377,-0.4491079362162568],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.259999999997536,"qpos":[-2.019904263639096,-1.6014778196092938,1.3356012516143227,-1.3049197661039567,-1.570796326538114,-0.4491079364632327,0.0029336111589807774,0.00015630156605307143,0.0031934794498771494,-0.0034292989282193706,0.0029336110597643797,0.0001563011039506706,0.0031978493831133947,-0.0034379968758611154,0.08123550789992474,0.4777356024151714,0.2998922445797833,0.99999999999945,-1.958158823912866e-11,8.576632903230182e-13,1.0494147451743065e-06],"qvel":[2.9874389205195574e-09,5.1061098141992747e-08,-1.6266950316883305e-07,1.4624788956132764e-07,-1.1845418181247598e-09,1.247381454020974e-09,1.0482367426178151e-09,5.1118945101474e-09,-4.882639374211453e-09,-5.096975329537899e-10,-8.102858647115113e-10,-3.1112973473578377e-09,2.914850484942082e-09,2.617366830691744e-10,-1.1870763281705174e-12,-2.7103194508802673e-11,1.3591318986493549e-14,2.116304799246546e-10,-9.269606561649583e-12,1.017883747315057e-08],"joint_position_rad":[-2.019904263639096,-1.6014778196092938,1.3356012516143227,-1.3049197661039567,-1.570796326538114,-0.4491079364632327],"joint_velocity_rad_s":[2.9874389205195574e-09,5.1061098141992747e-08,-1.6266950316883305e-07,1.4624788956132764e-07,-1.1845418181247598e-09,1.247381454020974e-09],"linkage_position_rad":[0.0029336111589807774,0.00015630156605307143,0.0031934794498771494,-0.0034292989282193706,0.0029336110597643797,0.0001563011039506706,0.0031978493831133947,-0.0034379968758611154],"tcp_position_m":[0.08125537462035945,0.47723572235536205,0.4349999922510207],"tcp_quaternion_wxyz":[-1.3263185981000675e-09,0.7071067813212393,0.7071067810518554,3.405081696793754e-09],"object_position_m":[0.08123550789992474,0.4777356024151714,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.958158823912866e-11,8.576632903230182e-13,1.0494147451743065e-06],"object_linear_velocity_m_s":[-1.1870763281705174e-12,-2.7103194508802673e-11,1.3591318986493549e-14],"object_angular_velocity_rad_s":[2.1163049939697197e-10,-9.26916198670123e-12,1.0178837473150583e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221356144,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630105235,-1.6109718312236463,1.325458047044743,-1.3097463883450717,-1.5707951084039842,-0.4491079362162476,0.0],"actuator_force":[6.216941983439028e-08,-18.988043653143905,-20.286344071358144,-2.4133257453464694,0.0006091855191243667,-1.2455814157874556e-09,-0.29336111212701227],"issued_joint_targets_rad":[-2.019904263008582,-1.6014778093927426,1.3356012194463287,-1.3049197370141314,-1.5707963267772698,-0.4491079362142586],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.259999999997536,"joint_targets_rad":[-2.019904263008582,-1.6014778093927426,1.3356012194463287,-1.3049197370141314,-1.5707963267772698,-0.4491079362142586],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.279999999997525,"qpos":[-2.019904263582031,-1.6014778186383472,1.3356012485249509,-1.30491976332537,-1.5707963265608627,-0.4491079364393783,0.002933611157620143,0.00015630155224005115,0.0031934794649721683,-0.0034292989291418176,0.0029336110635487054,0.00015630111182771795,0.003197849376869467,-0.003437996877918314,0.08123550789989949,0.47773560241459395,0.2998922445797833,0.99999999999945,-1.945489256569483e-11,8.521266616093286e-13,1.04955989923609e-06],"qvel":[2.727099543732274e-09,4.6289849599829883e-08,-1.4717652112916191e-07,1.3241271098946518e-07,-1.075611981383742e-09,1.1369998249850566e-09,6.670815349237669e-10,4.018939168045691e-09,-3.6115264237183287e-09,-5.811712064812611e-10,-3.0193285822641525e-10,-2.431390958395845e-09,2.330338265232498e-09,1.3676616904294273e-10,-1.3657685918948701e-12,-3.1182340789737025e-11,1.3750913546283414e-14,-2.0082859352605508e-10,8.798492982968638e-12,1.8583986727880272e-08],"joint_position_rad":[-2.019904263582031,-1.6014778186383472,1.3356012485249509,-1.30491976332537,-1.5707963265608627,-0.4491079364393783],"joint_velocity_rad_s":[2.727099543732274e-09,4.6289849599829883e-08,-1.4717652112916191e-07,1.3241271098946518e-07,-1.075611981383742e-09,1.1369998249850566e-09],"linkage_position_rad":[0.002933611157620143,0.00015630155224005115,0.0031934794649721683,-0.0034292989291418176,0.0029336110635487054,0.00015630111182771795,0.003197849376869467,-0.003437996877918314],"tcp_position_m":[0.08125537460939206,0.4772357223803457,0.43499999299890735],"tcp_quaternion_wxyz":[-1.2066588698505042e-09,0.7071067813094978,0.7071067810635969,3.0972435844587874e-09],"object_position_m":[0.08123550789989949,0.47773560241459395,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.945489256569483e-11,8.521266616093286e-13,1.04955989923609e-06],"object_linear_velocity_m_s":[-1.3657685918948701e-12,-3.1182340789737025e-11,1.3750913546283414e-14],"object_angular_velocity_rad_s":[-2.008286119630327e-10,8.79807214277146e-12,1.85839867278803e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221296467,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263008582,-1.610971831221375,1.325458047021815,-1.3097463883140494,-1.5707951084058915,-0.44910793621425027,0.0],"actuator_force":[5.605807018582709e-08,-18.98804368199535,-20.286344135663512,-2.4133257356107833,0.0006091850466418691,-1.1359588825143874e-09,-0.2933611128841858],"issued_joint_targets_rad":[-2.0199042630068225,-1.6014778093771942,1.3356012194203881,-1.304919736988042,-1.5707963267789298,-0.4491079362124491],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.279999999997525,"joint_targets_rad":[-2.0199042630068225,-1.6014778093771942,1.3356012194203881,-1.304919736988042,-1.5707963267789298,-0.4491079362124491],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.299999999997514,"qpos":[-2.019904263529948,-1.6014778177581321,1.3356012457298139,-1.304919760809678,-1.5707963265816083,-0.4491079364176359,0.002933611160386419,0.00015630156032775546,0.0031934794582482843,-0.0034292989307485706,0.00293361106285037,0.0001563011073295083,0.0031978493808718753,-0.0034379968784647944,0.08123550789987541,0.47773560241404395,0.2998922445797833,0.99999999999945,-1.8365718879373367e-11,8.044361710250445e-13,1.0497063864933073e-06],"qvel":[2.4849835829863152e-09,4.19640358346533e-08,-1.3316113047550201e-07,1.1987886082963233e-07,-9.910952166472536e-10,1.0363193243977546e-09,-5.349134015922018e-10,-3.0857012715637505e-09,3.0852443969490363e-09,2.640795202343538e-10,6.021140563342141e-10,1.9102641573000625e-09,-1.76376226326722e-09,-2.7150182654763353e-10,-1.6559163136882084e-12,-3.78058778437893e-11,1.38563847336228e-14,-8.174798258712286e-10,3.5810642538910857e-11,3.392966643340788e-08],"joint_position_rad":[-2.019904263529948,-1.6014778177581321,1.3356012457298139,-1.304919760809678,-1.5707963265816083,-0.4491079364176359],"joint_velocity_rad_s":[2.4849835829863152e-09,4.19640358346533e-08,-1.3316113047550201e-07,1.1987886082963233e-07,-9.910952166472536e-10,1.0363193243977546e-09],"linkage_position_rad":[0.002933611160386419,0.00015630156032775546,0.0031934794582482843,-0.0034292989307485706,0.00293361106285037,0.0001563011073295083,0.0031978493808718753,-0.0034379968784647944],"tcp_position_m":[0.08125537459930306,0.477235722402994,0.43499999367457964],"tcp_quaternion_wxyz":[-1.0977439638642866e-09,0.7071067812987708,0.7071067810743235,2.8171075695013393e-09],"object_position_m":[0.08123550789987541,0.47773560241404395,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999945,-1.8365718879373367e-11,8.044361710250445e-13,1.0497063864933073e-06],"object_linear_velocity_m_s":[-1.6559163136882084e-12,-3.78058778437893e-11,1.38563847336228e-14],"object_angular_velocity_rad_s":[-8.174799009961617e-10,3.58089275575294e-11,3.392966643340794e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221325594,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630068225,-1.6109718312193515,1.3254580470010584,-1.309746388285959,-1.570795108407621,-0.4491079362124415,0.0],"actuator_force":[5.2257291827118024e-08,-18.988043708052828,-20.28634419305854,-2.413325726026528,0.0006091861032473389,-1.0346923318138579e-09,-0.2933611114978427],"issued_joint_targets_rad":[-2.019904263005229,-1.6014778093631181,1.3356012193969047,-1.3049197369644245,-1.5707963267804335,-0.4491079362108098],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.299999999997514,"joint_targets_rad":[-2.019904263005229,-1.6014778093631181,1.3356012193969047,-1.3049197369644245,-1.5707963267804335,-0.4491079362108098],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.319999999997503,"qpos":[-2.019904263482414,-1.6014778169601795,1.335601243200884,-1.304919758531995,-1.5707963266004905,-0.4491079363978196,0.002933611163666786,0.0001563015712121388,0.003193479448356961,-0.0034292989322949113,0.0029336110623958693,0.00015630110089443492,0.0031978493882691005,-0.003437996879413581,0.08123550789985305,0.4777356024135337,0.2998922445797833,0.9999999999994489,-1.587050403522842e-11,6.95154544102583e-13,1.0498350898001416e-06],"qvel":[2.2706656325220953e-09,3.804206995929743e-08,-1.2047762831526278e-07,1.0853964797167089e-07,-8.987420981637996e-10,9.445133252864513e-10,1.1236687874255688e-09,5.136050207816555e-09,-5.00664965602456e-09,-4.1795754752199924e-10,-9.664628730843213e-10,-3.1375032706178637e-09,2.9243078095030503e-09,2.9507991774089125e-10,-8.507214249710416e-13,-1.942266093759821e-11,1.3526093383796814e-14,6.796545681241841e-10,-2.9770210714124316e-11,3.6760015188406566e-09],"joint_position_rad":[-2.019904263482414,-1.6014778169601795,1.335601243200884,-1.304919758531995,-1.5707963266004905,-0.4491079363978196],"joint_velocity_rad_s":[2.2706656325220953e-09,3.804206995929743e-08,-1.2047762831526278e-07,1.0853964797167089e-07,-8.987420981637996e-10,9.445133252864513e-10],"linkage_position_rad":[0.002933611163666786,0.0001563015712121388,0.003193479448356961,-0.0034292989322949113,0.0029336110623958693,0.00015630110089443492,0.0031978493882691005,-0.003437996879413581],"tcp_position_m":[0.08125537459001374,0.4772357224235259,0.43499999428501324],"tcp_quaternion_wxyz":[-9.986285424590096e-10,0.7071067812889712,0.7071067810841235,2.562181733266307e-09],"object_position_m":[0.08123550789985305,0.4777356024135337,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994489,-1.587050403522842e-11,6.95154544102583e-13,1.0498350898001416e-06],"object_linear_velocity_m_s":[-8.507214249710416e-13,-1.942266093759821e-11,1.3526093383796814e-14],"object_angular_velocity_rad_s":[6.796546306354202e-10,-2.976878354694958e-11,3.676001518840656e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322135414,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263005229,-1.6109718312175467,1.325458046982264,-1.3097463882605205,-1.5707951084091878,-0.4491079362108029,0.0],"actuator_force":[4.610365067492239e-08,-18.988043731562357,-20.286344246188037,-2.413325718227611,0.0006091855256045164,-9.430038971913746e-10,-0.2933611120891623],"issued_joint_targets_rad":[-2.0199042630037862,-1.6014778093503772,1.335601219375649,-1.3049197369430467,-1.5707963267817953,-0.4491079362093245],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.319999999997503,"joint_targets_rad":[-2.0199042630037862,-1.6014778093503772,1.335601219375649,-1.3049197369430467,-1.5707963267817953,-0.4491079362093245],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.339999999997492,"qpos":[-2.01990426343905,-1.6014778162368093,1.3356012409127993,-1.3049197564698338,-1.5707963266177352,-0.44910793637975965,0.002933611163563385,0.00015630156349697696,0.0031934794559358303,-0.0034292989314845027,0.0029336110642803233,0.00015630110578890787,0.003197849384981258,-0.0034379968814717532,0.08123550789982728,0.4777356024129452,0.2998922445797833,0.9999999999994489,-1.6944249009590612e-11,7.421836472843347e-13,1.0500700695332802e-06],"qvel":[2.0727336905223243e-09,3.4486229929751365e-08,-1.09003372483347e-07,9.827169116391864e-08,-8.157758441882376e-10,8.608054113299429e-10,7.865468698937931e-10,4.444470919353749e-09,-4.143667601332353e-09,-5.445836636808377e-10,-5.42062653808705e-10,-2.735681491144704e-09,2.5556066848772196e-09,2.3061495411701888e-10,-9.170827147697872e-13,-2.0937774286775126e-11,1.3304048778871784e-14,5.975675581775243e-10,-2.6175136665303193e-11,6.711450330180419e-09],"joint_position_rad":[-2.01990426343905,-1.6014778162368093,1.3356012409127993,-1.3049197564698338,-1.5707963266177352,-0.44910793637975965],"joint_velocity_rad_s":[2.0727336905223243e-09,3.4486229929751365e-08,-1.09003372483347e-07,9.827169116391864e-08,-8.157758441882376e-10,8.608054113299429e-10],"linkage_position_rad":[0.002933611163563385,0.00015630156349697696,0.0031934794559358303,-0.0034292989314845027,0.0029336110642803233,0.00015630110578890787,0.003197849384981258,-0.0034379968814717532],"tcp_position_m":[0.08125537458148754,0.47723572244213774,0.4349999948365158],"tcp_quaternion_wxyz":[-9.084138039221545e-10,0.7071067812800247,0.7071067810930698,2.3302359974488104e-09],"object_position_m":[0.08123550789982728,0.4777356024129452,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994489,-1.6944249009590612e-11,7.421836472843347e-13,1.0500700695332802e-06],"object_linear_velocity_m_s":[-9.170827147697872e-13,-2.0937774286775126e-11,1.3304048778871784e-14],"object_angular_velocity_rad_s":[5.975676131576239e-10,-2.6173881462189768e-11,6.711450330180423e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221324511,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042630037862,-1.6109718312159398,1.3254580469652497,-1.3097463882374858,-1.5707951084106069,-0.4491079362093182,0.0],"actuator_force":[4.143430487602018e-08,-18.98804375275313,-20.286344293750517,-2.413325710995082,0.0006091851416840655,-8.59813553688582e-10,-0.29336111261460646],"issued_joint_targets_rad":[-2.019904263002479,-1.6014778093388429,1.3356012193564089,-1.3049197369236958,-1.5707963267830294,-0.4491079362079785],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.339999999997492,"joint_targets_rad":[-2.019904263002479,-1.6014778093388429,1.3356012193564089,-1.3049197369236958,-1.5707963267830294,-0.4491079362079785],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.35999999999748,"qpos":[-2.019904263399484,-1.6014778155810565,1.3356012388426242,-1.3049197546027922,-1.5707963266334641,-0.4491079363633011,0.002933611161449054,0.00015630154946949296,0.003193479471089282,-0.0034292989325558133,0.002933611067824336,0.00015630111416615764,0.003197849377333197,-0.0034379968826632632,0.0812355078998036,0.47773560241240504,0.2998922445797833,0.9999999999994489,-1.693297097555733e-11,7.416935073316659e-13,1.0503061525721553e-06],"qvel":[1.891043923856943e-09,3.126241421221347e-08,-9.862258577845282e-08,8.897471432316935e-08,-7.400462775361184e-10,7.84484022087478e-10,2.3357476860287866e-10,1.986598518763973e-09,-1.5827304666210638e-09,-4.5058051880178907e-10,1.2446203843422412e-10,-1.246077015196364e-09,1.2795652177534934e-09,2.3316304237807998e-11,-9.652248823003164e-13,-2.203666777907998e-11,1.3424785532799771e-14,4.092449977587152e-10,-1.792605006995144e-11,1.2253413601990872e-08],"joint_position_rad":[-2.019904263399484,-1.6014778155810565,1.3356012388426242,-1.3049197546027922,-1.5707963266334641,-0.4491079363633011],"joint_velocity_rad_s":[1.891043923856943e-09,3.126241421221347e-08,-9.862258577845282e-08,8.897471432316935e-08,-7.400462775361184e-10,7.84484022087478e-10],"linkage_position_rad":[0.002933611161449054,0.00015630154946949296,0.003193479471089282,-0.0034292989325558133,0.002933611067824336,0.00015630111416615764,0.003197849377333197,-0.0034379968826632632],"tcp_position_m":[0.08125537457365307,0.4772357224590084,0.4349999953347745],"tcp_quaternion_wxyz":[-8.263103809011738e-10,0.7071067812718549,0.7071067811012394,2.119198021771132e-09],"object_position_m":[0.0812355078998036,0.47773560241240504,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994489,-1.693297097555733e-11,7.416935073316659e-13,1.0503061525721553e-06],"object_linear_velocity_m_s":[-9.652248823003164e-13,-2.203666777907998e-11,1.3424785532799771e-14],"object_angular_velocity_rad_s":[4.0924503543167017e-10,-1.7925189989860383e-11,1.2253413601990883e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221272968,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263002479,-1.610971831214507,1.3254580469498463,-1.309746388216627,-1.570795108411893,-0.4491079362079728,0.0],"actuator_force":[3.759259925573133e-08,-18.98804377186616,-20.286344336521324,-2.4133257043887397,0.0006091847902780501,-7.842402283131378e-10,-0.29336111325385356],"issued_joint_targets_rad":[-2.019904263001295,-1.6014778093284017,1.3356012193389915,-1.304919736906179,-1.5707963267841467,-0.44910793620675965],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.35999999999748,"joint_targets_rad":[-2.019904263001295,-1.6014778093284017,1.3356012193389915,-1.304919736906179,-1.5707963267841467,-0.44910793620675965],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.37999999999747,"qpos":[-2.019904263363375,-1.6014778149866067,1.3356012369696069,-1.3049197529123981,-1.5707963266477913,-0.4491079363483026,0.0029336111648620936,0.00015630156420111133,0.003193479457925488,-0.0034292989347230957,0.002933611065964521,0.0001563011054945624,0.0031978493849917,-0.0034379968822461273,0.08123550789978112,0.477735602411892,0.2998922445797833,0.9999999999994489,-1.6834792855470893e-11,7.373909276675418e-13,1.050567059422242e-06],"qvel":[1.7190930933023823e-09,2.8339796025139404e-08,-8.923225307593235e-08,8.054244741395865e-08,-7.040103323362081e-10,7.148569584927842e-10,-1.5343945101450204e-09,-8.567133592867967e-09,8.11748542836031e-09,8.428227363591639e-10,1.0090693513405576e-09,5.430681482777248e-09,-5.4205136132943945e-09,-4.0986693863588665e-10,-1.0512702432485187e-12,-2.400125831481024e-11,1.3623237898451515e-14,1.3428563587611205e-10,-5.882332835710859e-12,2.2371639080135737e-08],"joint_position_rad":[-2.019904263363375,-1.6014778149866067,1.3356012369696069,-1.3049197529123981,-1.5707963266477913,-0.4491079363483026],"joint_velocity_rad_s":[1.7190930933023823e-09,2.8339796025139404e-08,-8.923225307593235e-08,8.054244741395865e-08,-7.040103323362081e-10,7.148569584927842e-10],"linkage_position_rad":[0.0029336111648620936,0.00015630156420111133,0.003193479457925488,-0.0034292989347230957,0.002933611065964521,0.0001563011054945624,0.0031978493849917,-0.0034379968822461273],"tcp_position_m":[0.08125537456644497,0.47723572247430046,0.43499999578492965],"tcp_quaternion_wxyz":[-7.515992259081817e-10,0.7071067812643914,0.7071067811087033,1.927182850021877e-09],"object_position_m":[0.08123550789978112,0.477735602411892,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994489,-1.6834792855470893e-11,7.373909276675418e-13,1.050567059422242e-06],"object_linear_velocity_m_s":[-1.0512702432485187e-12,-2.400125831481024e-11,1.3623237898451515e-14],"object_angular_velocity_rad_s":[1.3428564826837855e-10,-5.882049930322819e-12,2.2371639080135773e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221322761,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263001295,-1.6109718312132306,1.325458046935899,-1.3097463881977385,-1.5707951084130585,-0.4491079362067545,0.0],"actuator_force":[3.652348823379725e-08,-18.988043789166113,-20.286344374514556,-2.413325696914967,0.0006091877675089563,-7.116511824278859e-10,-0.29336110891470496],"issued_joint_targets_rad":[-2.019904263000223,-1.6014778093189503,1.3356012193232263,-1.3049197368903227,-1.570796326785159,-0.4491079362056553],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.37999999999747,"joint_targets_rad":[-2.019904263000223,-1.6014778093189503,1.3356012193232263,-1.3049197368903227,-1.570796326785159,-0.4491079362056553],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.399999999997458,"qpos":[-2.019904263330433,-1.6014778144477355,1.3356012352749622,-1.3049197513819413,-1.5707963266608345,-0.44910793633463525,0.002933611166090987,0.00015630156673281058,0.0031934794559186986,-0.0034292989352438376,0.002933611066713324,0.00015630110409540763,0.0031978493874718944,-0.0034379968833504124,0.08123550789976086,0.47773560241142965,0.2998922445797833,0.9999999999994489,-1.5460995277094458e-11,6.77217851578157e-13,1.0508068497140868e-06],"qvel":[1.574484656140612e-09,2.5690028114299102e-08,-8.073221093128425e-08,7.293286917653895e-08,-6.185810699544597e-10,6.514278799443902e-10,1.008207731634789e-09,5.06132995060985e-09,-4.8659305778166965e-09,-4.711218390025407e-10,-8.454036160099075e-10,-3.140014540651224e-09,2.9225570968579493e-09,3.011516492518564e-10,-1.1877215050490454e-12,-2.7116356716262257e-11,1.3845282503376545e-14,-2.844601328340532e-10,1.246060779071372e-11,4.084496344695129e-08],"joint_position_rad":[-2.019904263330433,-1.6014778144477355,1.3356012352749622,-1.3049197513819413,-1.5707963266608345,-0.44910793633463525],"joint_velocity_rad_s":[1.574484656140612e-09,2.5690028114299102e-08,-8.073221093128425e-08,7.293286917653895e-08,-6.185810699544597e-10,6.514278799443902e-10],"linkage_position_rad":[0.002933611166090987,0.00015630156673281058,0.0031934794559186986,-0.0034292989352438376,0.002933611066713324,0.00015630110409540763,0.0031978493874718944,-0.0034379968833504124],"tcp_position_m":[0.08125537455981799,0.47723572248816165,0.43499999619163043],"tcp_quaternion_wxyz":[-6.836226076918433e-10,0.7071067812575766,0.7071067811155176,1.7524870441891537e-09],"object_position_m":[0.08123550789976086,0.47773560241142965,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994489,-1.5460995277094458e-11,6.77217851578157e-13,1.0508068497140868e-06],"object_linear_velocity_m_s":[-1.1877215050490454e-12,-2.7116356716262257e-11,1.3845282503376545e-14],"object_angular_velocity_rad_s":[-2.8446015896548906e-10,1.2460011228381754e-11,4.084496344695137e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322132472,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904263000223,-1.610971831212094,1.3254580469232728,-1.3097463881806342,-1.570795108414114,-0.4491079362056506,0.0],"actuator_force":[3.0626324587501585e-08,-18.988043804728477,-20.286344410494166,-2.4133256926332933,0.0006091852183089941,-6.504592420242261e-10,-0.29336111245423613],"issued_joint_targets_rad":[-2.0199042629992516,-1.6014778093103943,1.3356012193089548,-1.3049197368759693,-1.570796326786076,-0.449107936204655],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.399999999997458,"joint_targets_rad":[-2.0199042629992516,-1.6014778093103943,1.3356012193089548,-1.3049197368759693,-1.570796326786076,-0.449107936204655],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.419999999997447,"qpos":[-2.0199042633003876,-1.601477813959251,1.3356012337417005,-1.304919749996309,-1.5707963266727514,-0.4491079363221815,0.002933611164008668,0.0001563015530543187,0.0031934794701705743,-0.0034292989354383365,0.002933611069868232,0.00015630111234847443,0.0031978493802742093,-0.0034379968846494635,0.08123550789974235,0.4777356024110073,0.2998922445797833,0.9999999999994478,-1.3596736734132295e-11,5.955631868651711e-13,1.0510360540618598e-06],"qvel":[1.4369558341521741e-09,2.3287764143501844e-08,-7.304374269576159e-08,6.603393540386671e-08,-5.593076540865935e-10,5.935871952668374e-10,6.277576250787318e-10,3.977820299829794e-09,-3.6077205499732984e-09,-5.406738862768556e-10,-3.397365957912539e-10,-2.4687743406490856e-09,2.3460171709285695e-09,1.8370991288708416e-10,-1.4398344629793464e-12,-3.287209181150918e-11,1.3324865460583505e-14,-8.780197653796644e-10,3.8460560281008856e-11,7.457258849190818e-08],"joint_position_rad":[-2.0199042633003876,-1.601477813959251,1.3356012337417005,-1.304919749996309,-1.5707963266727514,-0.4491079363221815],"joint_velocity_rad_s":[1.4369558341521741e-09,2.3287764143501844e-08,-7.304374269576159e-08,6.603393540386671e-08,-5.593076540865935e-10,5.935871952668374e-10],"linkage_position_rad":[0.002933611164008668,0.0001563015530543187,0.0031934794701705743,-0.0034292989354383365,0.002933611069868232,0.00015630111234847443,0.0031978493802742093,-0.0034379968846494635],"tcp_position_m":[0.08125537455374142,0.477235722500725,0.43499999655907573],"tcp_quaternion_wxyz":[-6.217590375581718e-10,0.7071067812513571,0.7071067811217376,1.5935723075346464e-09],"object_position_m":[0.08123550789974235,0.4777356024110073,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994478,-1.3596736734132295e-11,5.955631868651711e-13,1.0510360540618598e-06],"object_linear_velocity_m_s":[-1.4398344629793464e-12,-3.287209181150918e-11,1.3324865460583505e-14],"object_angular_velocity_rad_s":[-8.780198461357726e-10,3.845871664795251e-11,7.457258849190819e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221274052,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629992516,-1.6109718312110815,1.3254580469118407,-1.3097463881651452,-1.5707951084150704,-0.4491079362046507,0.0],"actuator_force":[2.7489477361086756e-08,-18.988043818766982,-20.286344442222344,-2.413325687811607,0.0006091847711786613,-5.933316060691141e-10,-0.29336111313395014],"issued_joint_targets_rad":[-2.019904262998372,-1.6014778093026492,1.3356012192960371,-1.304919736862977,-1.570796326786907,-0.44910793620374845],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.419999999997447,"joint_targets_rad":[-2.019904262998372,-1.6014778093026492,1.3356012192960371,-1.304919736862977,-1.570796326786907,-0.44910793620374845],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.439999999997436,"qpos":[-2.019904263272976,-1.6014778135164465,1.3356012323544562,-1.3049197487417847,-1.5707963266836165,-0.4491079363108342,0.002933611166163454,0.00015630156099852503,0.0031934794630276574,-0.003429298936439946,0.002933611068568738,0.00015630110776108355,0.0031978493840496,-0.0034379968845118067,0.08123550789972392,0.47773560241058605,0.2998922445797833,0.9999999999994478,-1.261963825302483e-11,5.527671333401907e-13,1.0513189256531737e-06],"qvel":[1.307052548324601e-09,2.1109991338595815e-08,-6.608933566269204e-08,5.978020889659002e-08,-5.201466699363256e-10,5.408477237975705e-10,-5.633684892471511e-10,-3.0617200903554972e-09,3.0326292694964054e-09,2.9055647374080094e-10,5.746424670894903e-10,1.937730215881659e-09,-1.8147193444977874e-09,-2.4399796296490415e-10,-6.813581794632432e-13,-1.5555745205230733e-11,1.3408132187430396e-14,5.060552958282047e-10,-2.216677809280697e-11,8.07932927776333e-09],"joint_position_rad":[-2.019904263272976,-1.6014778135164465,1.3356012323544562,-1.3049197487417847,-1.5707963266836165,-0.4491079363108342],"joint_velocity_rad_s":[1.307052548324601e-09,2.1109991338595815e-08,-6.608933566269204e-08,5.978020889659002e-08,-5.201466699363256e-10,5.408477237975705e-10],"linkage_position_rad":[0.002933611166163454,0.00015630156099852503,0.0031934794630276574,-0.003429298936439946,0.002933611068568738,0.00015630110776108355,0.0031978493840496,-0.0034379968845118067],"tcp_position_m":[0.0812553745481589,0.47723572251211116,0.4349999968910522],"tcp_quaternion_wxyz":[-5.654687875107853e-10,0.7071067812456775,0.707106781127417,1.449007381482611e-09],"object_position_m":[0.08123550789972392,0.47773560241058605,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994478,-1.261963825302483e-11,5.527671333401907e-13,1.0513189256531737e-06],"object_linear_velocity_m_s":[-6.813581794632432e-13,-1.5555745205230733e-11,1.3408132187430396e-14],"object_angular_velocity_rad_s":[5.060553424447249e-10,-2.2165713837821693e-11,8.079329277763337e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221303783,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262998372,-1.61097183121018,1.3254580469014912,-1.3097463881511202,-1.570795108415938,-0.44910793620374456,0.0],"actuator_force":[2.638671503518708e-08,-18.98804383146353,-20.286344470196127,-2.413325682688651,0.0006091858539321038,-5.399556357588153e-10,-0.2933611117929795],"issued_joint_targets_rad":[-2.019904262997575,-1.6014778092956383,1.3356012192843443,-1.3049197368512166,-1.5707963267876592,-0.4491079362029279],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.439999999997436,"joint_targets_rad":[-2.019904262997575,-1.6014778092956383,1.3356012192843443,-1.3049197368512166,-1.5707963267876592,-0.4491079362029279],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.459999999997425,"qpos":[-2.019904263247966,-1.601477813115055,1.3356012310993204,-1.3049197476059504,-1.5707963266934863,-0.44910793630049545,0.0029336111688754987,0.00015630157172384036,0.003193479452764335,-0.003429298937436734,0.0029336110675446327,0.00015630110117720693,0.0031978493912497444,-0.0034379968848695505,0.08123550789970568,0.47773560241017027,0.2998922445797833,0.9999999999994478,-1.2579290207486362e-11,5.510042409166615e-13,1.0516809203346477e-06],"qvel":[1.1952645280417237e-09,1.91356565920777e-08,-5.979424592850803e-08,5.4126927624701415e-08,-4.691652123091749e-10,4.927744753662695e-10,1.0965435182467204e-09,5.092986515476339e-09,-4.985321615093201e-09,-3.917345295109498e-10,-9.941142863256615e-10,-3.182292615069034e-09,2.954856261908284e-09,3.230615151143445e-10,-7.008496734041355e-13,-1.600063094947822e-11,1.3706504625298408e-14,3.8120687679764784e-10,-1.6698099970153103e-11,1.4750814964281808e-08],"joint_position_rad":[-2.019904263247966,-1.601477813115055,1.3356012310993204,-1.3049197476059504,-1.5707963266934863,-0.44910793630049545],"joint_velocity_rad_s":[1.1952645280417237e-09,1.91356565920777e-08,-5.979424592850803e-08,5.4126927624701415e-08,-4.691652123091749e-10,4.927744753662695e-10],"linkage_position_rad":[0.0029336111688754987,0.00015630157172384036,0.003193479452764335,-0.003429298937436734,0.0029336110675446327,0.00015630110117720693,0.0031978493912497444,-0.0034379968848695505],"tcp_position_m":[0.08125537454302027,0.4772357225224311,0.434999997190985],"tcp_quaternion_wxyz":[-5.142671508365157e-10,0.7071067812404905,0.7071067811326044,1.3174913823969586e-09],"object_position_m":[0.08123550789970568,0.47773560241017027,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994478,-1.2579290207486362e-11,5.510042409166615e-13,1.0516809203346477e-06],"object_linear_velocity_m_s":[-7.008496734041355e-13,-1.600063094947822e-11,1.3706504625298408e-14],"object_angular_velocity_rad_s":[3.8120691193520663e-10,-1.6697297783008555e-11,1.4750814964281831e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322133283,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262997575,-1.6109718312093777,1.3254580468921215,-1.3097463881384201,-1.570795108416723,-0.44910793620292433,0.0],"actuator_force":[2.2675521904602647e-08,-18.988043842908155,-20.286344496699257,-2.413325678927663,0.000609185298230841,-4.918945251120022e-10,-0.29336111233315276],"issued_joint_targets_rad":[-2.019904262996854,-1.6014778092892925,1.3356012192737612,-1.3049197368405718,-1.5707963267883407,-0.44910793620218376],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.459999999997425,"joint_targets_rad":[-2.019904262996854,-1.6014778092892925,1.3356012192737612,-1.3049197368405718,-1.5707963267883407,-0.44910793620218376],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.479999999997414,"qpos":[-2.019904263225163,-1.6014778127512066,1.3356012299637066,-1.3049197465776061,-1.57079632670251,-0.4491079362910759,0.0029336111663468114,0.00015630155793673665,0.0031934794671302307,-0.003429298937575082,0.0029336110709086345,0.0001563011098354699,0.0031978493834283004,-0.0034379968859950074,0.0812355078996894,0.4777356024097981,0.2998922445797833,0.9999999999994467,-1.1997377877629572e-11,5.25527538935076e-13,1.052038008522388e-06],"qvel":[1.0911924320849446e-09,1.734576330543818e-08,-5.4099751487646686e-08,4.900730342509226e-08,-4.2344718881374107e-10,4.4896294554465315e-10,8.851901091049855e-10,5.008775290749415e-09,-4.702218143435685e-09,-5.557524478644628e-10,-6.811516917091229e-10,-3.1356790907799676e-09,2.914470279421188e-09,3.0022633184021164e-10,-7.274217568886745e-13,-1.66068618823075e-11,1.35427467291662e-14,1.8551526875377948e-10,-8.125454037066246e-12,2.6931263157505663e-08],"joint_position_rad":[-2.019904263225163,-1.6014778127512066,1.3356012299637066,-1.3049197465776061,-1.57079632670251,-0.4491079362910759],"joint_velocity_rad_s":[1.0911924320849446e-09,1.734576330543818e-08,-5.4099751487646686e-08,4.900730342509226e-08,-4.2344718881374107e-10,4.4896294554465315e-10],"linkage_position_rad":[0.0029336111663468114,0.00015630155793673665,0.0031934794671302307,-0.003429298937575082,0.0029336110709086345,0.0001563011098354699,0.0031978493834283004,-0.0034379968859950074],"tcp_position_m":[0.08125537453831481,0.47723572253178376,0.43499999746197227],"tcp_quaternion_wxyz":[-4.676741284542349e-10,0.7071067812357587,0.707106781137336,1.1978768098859e-09],"object_position_m":[0.0812355078996894,0.4777356024097981,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994467,-1.1997377877629572e-11,5.25527538935076e-13,1.052038008522388e-06],"object_linear_velocity_m_s":[-7.274217568886745e-13,-1.66068618823075e-11,1.35427467291662e-14],"object_angular_velocity_rad_s":[1.855152858782474e-10,-8.125063052611369e-12,2.693126315750567e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221285395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262996854,-1.610971831208664,1.3254580468836399,-1.3097463881269207,-1.5707951084174343,-0.44910793620218054,0.0],"actuator_force":[2.0140760170761496e-08,-18.98804385322046,-20.286344520232888,-2.413325675387682,0.0006091848825917623,-4.4860826164949685e-10,-0.2933611128829644],"issued_joint_targets_rad":[-2.0199042629962,-1.6014778092835467,1.3356012192641786,-1.3049197368309349,-1.5707963267889582,-0.44910793620151007],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.479999999997414,"joint_targets_rad":[-2.0199042629962,-1.6014778092835467,1.3356012192641786,-1.3049197368309349,-1.5707963267889582,-0.44910793620151007],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.499999999997403,"qpos":[-2.019904263204363,-1.601477812421392,1.3356012289362362,-1.3049197456465689,-1.5707963267107428,-0.44910793628249446,0.0029336111675295623,0.000156301561253685,0.00319347946428376,-0.003429298937905459,0.002933611070247734,0.00015630110801238923,0.003197849384722973,-0.0034379968860307002,0.08123550789967504,0.47773560240946994,0.2998922445797833,0.9999999999994467,-1.0853813506913748e-11,4.754484638704402e-13,1.0523717175927802e-06],"qvel":[9.932647679794592e-10,1.5723159741060165e-08,-4.894900355504074e-08,4.436852144768676e-08,-3.876295519829908e-10,4.0902601163917485e-10,4.923128307844808e-11,4.12120873245265e-10,-3.049985113754673e-10,-1.3122934761828617e-11,1.2478102940065586e-10,-2.602097290632684e-10,3.3325224689972495e-10,-7.600337350031754e-11,-7.869489738575429e-13,-1.7965243276156462e-11,1.333041657570664e-14,-9.36095327942587e-11,4.102501665719203e-12,4.916968555151174e-08],"joint_position_rad":[-2.019904263204363,-1.601477812421392,1.3356012289362362,-1.3049197456465689,-1.5707963267107428,-0.44910793628249446],"joint_velocity_rad_s":[9.932647679794592e-10,1.5723159741060165e-08,-4.894900355504074e-08,4.436852144768676e-08,-3.876295519829908e-10,4.0902601163917485e-10],"linkage_position_rad":[0.0029336111675295623,0.000156301561253685,0.00319347946428376,-0.003429298937905459,0.002933611070247734,0.00015630110801238923,0.003197849384722973,-0.0034379968860307002],"tcp_position_m":[0.08125537453399653,0.47723572254025964,0.43499999770680586],"tcp_quaternion_wxyz":[-4.2528191256484444e-10,0.7071067812314388,0.7071067811416559,1.0890808426727022e-09],"object_position_m":[0.08123550789967504,0.47773560240946994,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994467,-1.0853813506913748e-11,4.754484638704402e-13,1.0523717175927802e-06],"object_linear_velocity_m_s":[-7.869489738575429e-13,-1.7965243276156462e-11,1.333041657570664e-14],"object_angular_velocity_rad_s":[-9.360954138201071e-11,4.102305709017743e-12,4.9169685551511786e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298983,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629962,-1.6109718312080277,1.325458046875958,-1.3097463881165063,-1.5707951084180793,-0.44910793620150713,0.0],"actuator_force":[1.9020717445528135e-08,-18.988043862535505,-20.28634454095527,-2.4133256718208713,0.0006091850947314015,-4.0893155528465286e-10,-0.2933611127589264],"issued_joint_targets_rad":[-2.019904262995608,-1.6014778092783462,1.3356012192555067,-1.3049197368222123,-1.5707963267895175,-0.44910793620089956],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.499999999997403,"joint_targets_rad":[-2.019904262995608,-1.6014778092783462,1.3356012192555067,-1.3049197368222123,-1.5707963267895175,-0.44910793620089956],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.519999999997392,"qpos":[-2.0199042631853903,-1.601477812122432,1.3356012280066094,-1.3049197448036254,-1.5707963267182363,-0.44910793627467666,0.002933611168344136,0.00015630156215637496,0.0031934794631234284,-0.0034292989379412606,0.0029336110700801167,0.00015630110759708044,0.0031978493856311655,-0.0034379968865733365,0.08123550789966269,0.4777356024091876,0.2998922445797833,0.9999999999994467,-9.054206527033546e-12,3.966239208328147e-13,1.0526476366965244e-06],"qvel":[9.008127626336619e-10,1.4252260109444494e-08,-4.4289138192929606e-08,4.0158296643220584e-08,-3.795565523343091e-10,3.725959588341549e-10,-1.7254796400309177e-09,-9.418927005243627e-09,8.936053941724312e-09,8.244885221144623e-10,1.1423953099274874e-09,6.057403473076304e-09,-6.020763132995702e-09,-3.94813051148177e-10,-9.183806262261706e-13,-2.0965548355720752e-11,1.3539971171604638e-14,-4.764555754327146e-10,2.087203245834932e-11,8.977142877534198e-08],"joint_position_rad":[-2.0199042631853903,-1.601477812122432,1.3356012280066094,-1.3049197448036254,-1.5707963267182363,-0.44910793627467666],"joint_velocity_rad_s":[9.008127626336619e-10,1.4252260109444494e-08,-4.4289138192929606e-08,4.0158296643220584e-08,-3.795565523343091e-10,3.725959588341549e-10],"linkage_position_rad":[0.002933611168344136,0.00015630156215637496,0.0031934794631234284,-0.0034292989379412606,0.0029336110700801167,0.00015630110759708044,0.0031978493856311655,-0.0034379968865733365],"tcp_position_m":[0.08125537453002887,0.47723572254794067,0.4349999979280106],"tcp_quaternion_wxyz":[-3.867206434066299e-10,0.7071067812274947,0.7071067811455995,9.901241002798217e-10],"object_position_m":[0.08123550789966269,0.4777356024091876,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994467,-9.054206527033546e-12,3.966239208328147e-13,1.0526476366965244e-06],"object_linear_velocity_m_s":[-9.183806262261706e-13,-2.0965548355720752e-11,1.3539971171604638e-14],"object_angular_velocity_rad_s":[-4.764556193022413e-10,2.087103100425034e-11,8.97714287753421e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221303006,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262995608,-1.6109718312074623,1.3254580468690054,-1.3097463881070768,-1.5707951084186638,-0.4491079362008969,0.0],"actuator_force":[1.923990566865541e-08,-18.988043870965157,-20.286344559553072,-2.413325667555341,0.000609187741815731,-3.6970959627069533e-10,-0.293361109005791],"issued_joint_targets_rad":[-2.019904262995072,-1.6014778092736384,1.3356012192476565,-1.3049197368143168,-1.5707963267900242,-0.44910793620034656],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.519999999997392,"joint_targets_rad":[-2.019904262995072,-1.6014778092736384,1.3356012192476565,-1.3049197368143168,-1.5707963267900242,-0.44910793620034656],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.53999999999738,"qpos":[-2.0199042631680855,-1.6014778118514423,1.3356012271655069,-1.3049197440404354,-1.5707963267250427,-0.44910793626755474,0.002933611168451274,0.00015630156314100732,0.0031934794633058645,-0.0034292989392935543,0.0029336110712772645,0.0001563011068561589,0.0031978493868180624,-0.0034379968868249854,0.0812355078996508,0.47773560240891655,0.2998922445797833,0.9999999999994467,-8.054467745987254e-12,3.5283136800550014e-13,1.0529881611094075e-06],"qvel":[8.28065306299886e-10,1.2918749436348767e-08,-4.006945868848638e-08,3.637039432440506e-08,-3.2101111111924567e-10,3.394429842226809e-10,1.0571416914219553e-09,5.440955765916464e-09,-5.216252261427529e-09,-5.128236038387949e-10,-9.231207578319195e-10,-3.4314303829969106e-09,3.1640290816277057e-09,3.588183636212259e-10,-4.3835567559514e-13,-1.000709846771413e-11,1.3978509266331577e-14,3.360875276333542e-10,-1.4722688391085532e-11,9.725999154344594e-09],"joint_position_rad":[-2.0199042631680855,-1.6014778118514423,1.3356012271655069,-1.3049197440404354,-1.5707963267250427,-0.44910793626755474],"joint_velocity_rad_s":[8.28065306299886e-10,1.2918749436348767e-08,-4.006945868848638e-08,3.637039432440506e-08,-3.2101111111924567e-10,3.394429842226809e-10],"linkage_position_rad":[0.002933611168451274,0.00015630156314100732,0.0031934794633058645,-0.0034292989392935543,0.0029336110712772645,0.0001563011068561589,0.0031978493868180624,-0.0034379968868249854],"tcp_position_m":[0.08125537452638029,0.4772357225549017,0.4349999981278676],"tcp_quaternion_wxyz":[-3.5165166150082526e-10,0.7071067812238945,0.7071067811491996,9.001163890804905e-10],"object_position_m":[0.0812355078996508,0.47773560240891655,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994456,-8.054467745987245e-12,3.5283136800549974e-13,1.0529881611094062e-06],"object_linear_velocity_m_s":[-4.3835567559514e-13,-1.000709846771413e-11,1.3978509266331577e-14],"object_angular_velocity_rad_s":[3.3608755864510516e-10,-1.4721980442001994e-11,9.725999154344592e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129779,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262995072,-1.6109718312069592,1.3254580468627104,-1.309746388098538,-1.570795108419193,-0.4491079362003441,0.0],"actuator_force":[1.4801116776652634e-08,-18.988043878533517,-20.28634457780936,-2.4133256660907136,0.0006091850259508647,-3.389857283764286e-10,-0.2933611126565316],"issued_joint_targets_rad":[-2.019904262994586,-1.6014778092693762,1.33560121924055,-1.3049197368071694,-1.570796326790483,-0.44910793619984607],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.53999999999738,"joint_targets_rad":[-2.019904262994586,-1.6014778092693762,1.33560121924055,-1.3049197368071694,-1.570796326790483,-0.44910793619984607],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.55999999999737,"qpos":[-2.01990426315231,-1.6014778116058084,1.335601226404496,-1.3049197433494764,-1.570796326731276,-0.4491079362610673,0.0029336111689405114,0.00015630156352409294,0.003193479463206885,-0.003429298939175158,0.0029336110711407778,0.00015630110673296426,0.0031978493866569777,-0.0034379968870534936,0.08123550789963946,0.47773560240865665,0.2998922445797833,0.9999999999994456,-7.809288628918455e-12,3.4208240233216214e-13,1.053423934903056e-06],"qvel":[7.543373361245423e-10,1.1709902436377023e-08,-3.625440128369674e-08,3.2929094963145627e-08,-2.9075262055371014e-10,3.092105732498176e-10,4.5302376652043083e-10,2.5153969380685447e-09,-2.39623369247016e-09,-1.6339792565890693e-10,-2.641090656112028e-10,-1.5989474216219484e-09,1.589881628358621e-09,5.669106943600929e-11,-4.370743828510413e-13,-9.978066423786153e-12,1.3471970011346349e-14,2.458908404211279e-10,-1.077162704407831e-11,1.775721834100022e-08],"joint_position_rad":[-2.01990426315231,-1.6014778116058084,1.335601226404496,-1.3049197433494764,-1.570796326731276,-0.4491079362610673],"joint_velocity_rad_s":[7.543373361245423e-10,1.1709902436377023e-08,-3.625440128369674e-08,3.2929094963145627e-08,-2.9075262055371014e-10,3.092105732498176e-10],"linkage_position_rad":[0.0029336111689405114,0.00015630156352409294,0.003193479463206885,-0.003429298939175158,0.0029336110711407778,0.00015630110673296426,0.0031978493866569777,-0.0034379968870534936],"tcp_position_m":[0.08125537452304417,0.47723572256120955,0.4349999983084406],"tcp_quaternion_wxyz":[-3.1973956627910035e-10,0.707106781220611,0.7071067811524837,8.182711389616241e-10],"object_position_m":[0.08123550789963946,0.47773560240865665,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994456,-7.809288628918455e-12,3.4208240233216214e-13,1.053423934903056e-06],"object_linear_velocity_m_s":[-4.370743828510413e-13,-9.978066423786153e-12,1.3471970011346349e-14],"object_angular_velocity_rad_s":[2.458908631269105e-10,-1.0771108712118568e-11,1.7757218341000236e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130024,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262994586,-1.6109718312065113,1.3254580468570107,-1.3097463880908058,-1.5707951084196725,-0.44910793619984385,0.0],"actuator_force":[1.3712906365981326e-08,-18.98804388536655,-20.286344593210288,-2.413325663574142,0.0006091848770211072,-3.093134637310868e-10,-0.293361112948638],"issued_joint_targets_rad":[-2.019904262994146,-1.6014778092655193,1.335601219234118,-1.3049197368006997,-1.5707963267908986,-0.4491079361993918],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.55999999999737,"joint_targets_rad":[-2.019904262994146,-1.6014778092655193,1.335601219234118,-1.3049197368006997,-1.5707963267908986,-0.4491079361993918],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.579999999997359,"qpos":[-2.0199042631379247,-1.6014778113831603,1.3356012257159509,-1.3049197427239,-1.5707963267369562,-0.44910793625515794,0.002933611168519606,0.0001563015583966838,0.0031934794678557025,-0.0034292989387188885,0.0029336110718000724,0.0001563011100823063,0.0031978493838628946,-0.0034379968877800682,0.08123550789962942,0.4777356024084275,0.2998922445797833,0.9999999999994454,-7.345963079337712e-12,3.2178042358406e-13,1.0538538021960082e-06],"qvel":[6.851512519318193e-10,1.0614120570384481e-08,-3.280326865581669e-08,2.980892533909666e-08,-2.7311560907622565e-10,2.816520380072965e-10,-6.904121262379738e-10,-3.4998203930333506e-09,3.498054122651935e-09,2.328860312835698e-10,6.744118075916874e-10,2.226380462844094e-09,-2.104752552280799e-09,-2.1285227976314737e-10,-4.4604841095047397e-13,-1.0183144666461242e-11,1.3612135668205279e-14,1.1982100716481155e-10,-5.2494281816599025e-12,3.2420196421931494e-08],"joint_position_rad":[-2.0199042631379247,-1.6014778113831603,1.3356012257159509,-1.3049197427239,-1.5707963267369562,-0.44910793625515794],"joint_velocity_rad_s":[6.851512519318193e-10,1.0614120570384481e-08,-3.280326865581669e-08,2.980892533909666e-08,-2.7311560907622565e-10,2.816520380072965e-10],"linkage_position_rad":[0.002933611168519606,0.0001563015583966838,0.0031934794678557025,-0.0034292989387188885,0.0029336110718000724,0.0001563011100823063,0.0031978493838628946,-0.0034379968877800682],"tcp_position_m":[0.081255374519983,0.47723572256692504,0.4349999984715901],"tcp_quaternion_wxyz":[-2.907125038123332e-10,0.707106781217614,0.7071067811554802,7.438410133490075e-10],"object_position_m":[0.08123550789962942,0.4777356024084275,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994454,-7.345963079337712e-12,3.2178042358406e-13,1.0538538021960082e-06],"object_linear_velocity_m_s":[-4.4604841095047397e-13,-1.0183144666461242e-11,1.3612135668205279e-14],"object_angular_velocity_rad_s":[1.1982101824966915e-10,-5.24917515768513e-12,3.242019642193155e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286487,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262994146,-1.6109718312061143,1.3254580468518513,-1.309746388083804,-1.570795108420107,-0.4491079361993898,0.0],"actuator_force":[1.3497356121661142e-08,-18.988043891556117,-20.286344606891817,-2.413325660844521,0.0006091857361525399,-2.8114754968555644e-10,-0.2933611119359823],"issued_joint_targets_rad":[-2.019904262993748,-1.6014778092620268,1.3356012192282956,-1.3049197367948437,-1.5707963267912752,-0.4491079361989812],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.579999999997359,"joint_targets_rad":[-2.019904262993748,-1.6014778092620268,1.3356012192282956,-1.3049197367948437,-1.5707963267912752,-0.4491079361989812],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.599999999997348,"qpos":[-2.019904263124799,-1.6014778111813488,1.335601225092973,-1.3049197421575025,-1.5707963267420961,-0.4491079362497754,0.002933611170383115,0.00015630156836351036,0.0031934794591042957,-0.0034292989406511723,0.0029336110711543125,0.00015630110362546508,0.003197849390303746,-0.0034379968873542895,0.08123550789962106,0.4777356024082361,0.2998922445797833,0.9999999999994443,-6.2801321726962086e-12,2.750893820847031e-13,1.0542012978949792e-06],"qvel":[6.279523044304854e-10,9.62076936734481e-09,-2.9678202278515062e-08,2.6991613895744575e-08,-2.4360136712543893e-10,2.56540122032473e-10,1.1617593856766637e-09,5.491589999397285e-09,-5.358200023811168e-09,-4.3122132536206176e-10,-1.0808135979751798e-09,-3.471481960625465e-09,3.1977946023023855e-09,3.7475777488599975e-10,-4.717696904353399e-13,-1.0770530365003549e-11,1.3798098024829995e-14,-6.032896151580253e-11,2.6422325766874674e-12,5.919109156471484e-08],"joint_position_rad":[-2.019904263124799,-1.6014778111813488,1.335601225092973,-1.3049197421575025,-1.5707963267420961,-0.4491079362497754],"joint_velocity_rad_s":[6.279523044304854e-10,9.62076936734481e-09,-2.9678202278515062e-08,2.6991613895744575e-08,-2.4360136712543893e-10,2.56540122032473e-10],"linkage_position_rad":[0.002933611170383115,0.00015630156836351036,0.0031934794591042957,-0.0034292989406511723,0.0029336110711543125,0.00015630110362546508,0.003197849390303746,-0.0034379968873542895],"tcp_position_m":[0.08125537451716099,0.47723572257210445,0.4349999986189942],"tcp_quaternion_wxyz":[-2.64324217030159e-10,0.7071067812148768,0.7071067811582179,6.761408984761779e-10],"object_position_m":[0.08123550789962106,0.4777356024082361,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994443,-6.2801321726962086e-12,2.750893820847031e-13,1.0542012978949792e-06],"object_linear_velocity_m_s":[-4.717696904353399e-13,-1.0770530365003549e-11,1.3798098024829995e-14],"object_angular_velocity_rad_s":[-6.032896705399356e-11,2.642106122398325e-12,5.919109156471484e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221310102,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262993748,-1.6109718312057602,1.32545804684718,-1.3097463880774645,-1.5707951084205007,-0.4491079361989794,0.0],"actuator_force":[1.0921212378889322e-08,-18.988043897129955,-20.286344620305044,-2.4133256591424015,0.0006091851578275964,-2.559659151302185e-10,-0.2933611124816003],"issued_joint_targets_rad":[-2.0199042629933865,-1.601477809258866,1.3356012192230253,-1.3049197367895429,-1.5707963267916163,-0.44910793619860867],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.599999999997348,"joint_targets_rad":[-2.0199042629933865,-1.601477809258866,1.3356012192230253,-1.3049197367895429,-1.5707963267916163,-0.44910793619860867],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.619999999997336,"qpos":[-2.0199042631128408,-1.6014778109984253,1.3356012245293123,-1.304919741644719,-1.5707963267468135,-0.44910793624487294,0.002933611170329532,0.00015630156696054307,0.003193479460640301,-0.0034292989402189985,0.0029336110714643358,0.00015630110472406855,0.0031978493890107568,-0.003437996887708602,0.08123550789961408,0.4777356024080765,0.2998922445797833,0.9999999999994442,-4.985268024706017e-12,2.1836682494850086e-13,1.0544766513623102e-06],"qvel":[5.724941242142381e-10,8.720256405693997e-09,-2.6852384691891658e-08,2.4438446222941292e-08,-2.1913899295094412e-10,2.3366688417483705e-10,7.214692732031963e-10,3.699123992723151e-09,-3.6222170979389284e-09,-2.1741960535680075e-10,-5.692538283745899e-10,-2.3580400636943054e-09,2.2869612492770546e-09,1.507686961478192e-10,-5.445144149961857e-13,-1.2432311362768546e-11,1.3349845478637589e-14,-2.981307544867251e-10,1.3055752041774983e-11,1.0806798548005757e-07],"joint_position_rad":[-2.0199042631128408,-1.6014778109984253,1.3356012245293123,-1.304919741644719,-1.5707963267468135,-0.44910793624487294],"joint_velocity_rad_s":[5.724941242142381e-10,8.720256405693997e-09,-2.6852384691891658e-08,2.4438446222941292e-08,-2.1913899295094412e-10,2.3366688417483705e-10],"linkage_position_rad":[0.002933611170329532,0.00015630156696054307,0.003193479460640301,-0.0034292989402189985,0.0029336110714643358,0.00015630110472406855,0.0031978493890107568,-0.003437996887708602],"tcp_position_m":[0.08125537451458688,0.47723572257679747,0.43499999875217926],"tcp_quaternion_wxyz":[-2.403108272717037e-10,0.7071067812123818,0.7071067811607127,6.145944482773377e-10],"object_position_m":[0.08123550789961408,0.4777356024080765,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994442,-4.985268024706017e-12,2.1836682494850086e-13,1.0544766513623102e-06],"object_linear_velocity_m_s":[-5.445144149961857e-13,-1.2432311362768546e-11,1.3349845478637589e-14],"object_angular_velocity_rad_s":[-2.9813078197283785e-10,1.305512437540243e-11,1.0806798548005763e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135132213079,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629933865,-1.6109718312054462,1.3254580468429509,-1.3097463880717237,-1.5707951084208576,-0.449107936198607,0.0],"actuator_force":[9.910763765219599e-09,-18.988043902144454,-20.286344631769225,-2.413325657347059,0.000609184891914083,-2.3371171664621215e-10,-0.2933611128507706],"issued_joint_targets_rad":[-2.01990426299306,-1.6014778092560045,1.335601219218255,-1.3049197367847443,-1.5707963267919252,-0.449107936198271],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.619999999997336,"joint_targets_rad":[-2.01990426299306,-1.6014778092560045,1.335601219218255,-1.3049197367847443,-1.5707963267919252,-0.449107936198271],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.639999999997325,"qpos":[-2.019904263101938,-1.6014778108326237,1.3356012240193227,-1.3049197411804603,-1.5707963267511154,-0.4491079362404077,0.0029336111690776564,0.0001563015583482365,0.003193479468792794,-0.0034292989395642414,0.0029336110728160974,0.00015630111028673598,0.003197849384114154,-0.003437996888525827,0.08123550789960718,0.47773560240791957,0.2998922445797833,0.9999999999994442,-4.5480301308409784e-12,1.9920312692077075e-13,1.0548865789730135e-06],"qvel":[5.208688942839829e-10,7.903992482374406e-09,-2.4296119823959604e-08,2.2125292417690206e-08,-1.9990153174576832e-10,2.1282210336608121e-10,-2.8512977998745542e-11,2.61899307733761e-10,-9.468672390926733e-11,-9.402837675287692e-11,1.9274162999155332e-10,-1.8119944656972187e-10,2.3107792197540985e-10,-3.3536694140984e-11,-2.49325703704585e-13,-5.692468642065886e-12,1.3520542268673708e-14,1.8548886909755487e-10,-8.125135255028802e-12,1.1708281239711371e-08],"joint_position_rad":[-2.019904263101938,-1.6014778108326237,1.3356012240193227,-1.3049197411804603,-1.5707963267511154,-0.4491079362404077],"joint_velocity_rad_s":[5.208688942839829e-10,7.903992482374406e-09,-2.4296119823959604e-08,2.2125292417690206e-08,-1.9990153174576832e-10,2.1282210336608121e-10],"linkage_position_rad":[0.0029336111690776564,0.0001563015583482365,0.003193479468792794,-0.0034292989395642414,0.0029336110728160974,0.00015630111028673598,0.003197849384114154,-0.003437996888525827],"tcp_position_m":[0.08125537451222759,0.47723572258104946,0.43499999887251484],"tcp_quaternion_wxyz":[-2.1846949581168677e-10,0.707106781210106,0.7071067811629883,5.586316521372292e-10],"object_position_m":[0.08123550789960718,0.47773560240791957,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994442,-4.5480301308409784e-12,1.9920312692077075e-13,1.0548865789730135e-06],"object_linear_velocity_m_s":[-2.49325703704585e-13,-5.692468642065886e-12,1.3520542268673708e-14],"object_angular_velocity_rad_s":[1.8548888624399911e-10,-8.124743809074372e-12,1.1708281239711386e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128266,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426299306,-1.610971831205167,1.3254580468391224,-1.309746388066525,-1.5707951084211806,-0.4491079361982695,0.0],"actuator_force":[9.40781319513917e-09,-18.988043906683288,-20.286344641952837,-2.413325655561607,0.0006091849575113883,-2.1310597730916925e-10,-0.29336111291583095],"issued_joint_targets_rad":[-2.019904262992764,-1.6014778092534143,1.3356012192139368,-1.3049197367804013,-1.5707963267922052,-0.44910793619796596],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.639999999997325,"joint_targets_rad":[-2.019904262992764,-1.6014778092534143,1.3356012192139368,-1.3049197367804013,-1.5707963267922052,-0.44910793619796596],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.659999999997314,"qpos":[-2.019904263091993,-1.6014778106823426,1.3356012235578958,-1.3049197407601287,-1.5707963267550258,-0.44910793623634115,0.0029336111690118427,0.0001563015578430362,0.003193479469780268,-0.0034292989404571964,0.002933611073149731,0.00015630111054831805,0.0031978493837552346,-0.0034379968883999808,0.08123550789960095,0.47773560240777696,0.2998922445797833,0.9999999999994441,-4.332354473313613e-12,1.8976658572276614e-13,1.0553516714353222e-06],"qvel":[4.693328650756025e-10,7.164130768839901e-09,-2.1984180227521498e-08,2.0018631103660038e-08,-2.1074343307329e-10,1.937928859236755e-10,-1.8989546174804007e-09,-1.0257136890801038e-08,9.743095342310456e-09,8.851598349802921e-10,1.2506733192203505e-09,6.61979113138847e-09,-6.606079039351395e-09,-4.14824570575517e-10,-2.456761284443378e-13,-5.608844863485143e-12,1.38577725124036e-14,1.278579512816696e-10,-5.60016080174903e-12,2.1376364820357785e-08],"joint_position_rad":[-2.019904263091993,-1.6014778106823426,1.3356012235578958,-1.3049197407601287,-1.5707963267550258,-0.44910793623634115],"joint_velocity_rad_s":[4.693328650756025e-10,7.164130768839901e-09,-2.1984180227521498e-08,2.0018631103660038e-08,-2.1074343307329e-10,1.937928859236755e-10],"linkage_position_rad":[0.0029336111690118427,0.0001563015578430362,0.003193479469780268,-0.0034292989404571964,0.002933611073149731,0.00015630111054831805,0.0031978493837552346,-0.0034379968883999808],"tcp_position_m":[0.08125537451005933,0.477235722584902,0.434999998981239],"tcp_quaternion_wxyz":[-1.986089022451455e-10,0.7071067812080276,0.7071067811650666,5.077419732982164e-10],"object_position_m":[0.08123550789960095,0.47773560240777696,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994441,-4.332354473313613e-12,1.8976658572276614e-13,1.0553516714353222e-06],"object_linear_velocity_m_s":[-2.456761284443378e-13,-5.608844863485143e-12,1.38577725124036e-14],"object_angular_velocity_rad_s":[1.27857963109776e-10,-5.599890746311396e-12,2.1376364820357828e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221280371,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262992764,-1.610971831204919,1.3254580468356563,-1.3097463880618185,-1.570795108421474,-0.4491079361979646,0.0],"actuator_force":[1.072476152330637e-08,-18.988043910805118,-20.286344650807223,-2.4133256527080675,0.0006091878502729742,-1.9099388737231493e-10,-0.2933611088666722],"issued_joint_targets_rad":[-2.0199042629924957,-1.6014778092510693,1.3356012192100277,-1.3049197367764696,-1.5707963267924587,-0.44910793619768874],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.659999999997314,"joint_targets_rad":[-2.0199042629924957,-1.6014778092510693,1.3356012192100277,-1.3049197367764696,-1.5707963267924587,-0.44910793619768874],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.679999999997303,"qpos":[-2.019904263082926,-1.6014778105461316,1.3356012231404044,-1.3049197403795654,-1.5707963267585678,-0.4491079362326378,0.0029336111716926857,0.000156301570954512,0.0031934794572576575,-0.0034292989410629935,0.0029336110713574495,0.0001563011022992249,0.0031978493916402693,-0.0034379968880782,0.08123550789959574,0.4777356024076582,0.2998922445797833,0.9999999999994429,-3.834902728686111e-12,1.6797518272031172e-13,1.0557510623131344e-06],"qvel":[4.3416032011890345e-10,6.4933478442461935e-09,-1.9888905494183258e-08,1.813665938467419e-08,-1.657661492384469e-10,1.765158708865132e-10,8.987372393127989e-10,4.27674123626275e-09,-4.262074315197121e-09,-2.1082750663015695e-10,-7.923574636965914e-10,-2.736803083847416e-09,2.63176681559886e-09,2.030323307042765e-10,-2.4520817529864464e-13,-5.598285927539245e-12,1.3542746729166213e-14,4.515552029226103e-11,-1.9784739092582222e-12,3.902784395047738e-08],"joint_position_rad":[-2.019904263082926,-1.6014778105461316,1.3356012231404044,-1.3049197403795654,-1.5707963267585678,-0.4491079362326378],"joint_velocity_rad_s":[4.3416032011890345e-10,6.4933478442461935e-09,-1.9888905494183258e-08,1.813665938467419e-08,-1.657661492384469e-10,1.765158708865132e-10],"linkage_position_rad":[0.0029336111716926857,0.000156301570954512,0.0031934794572576575,-0.0034292989410629935,0.0029336110713574495,0.0001563011022992249,0.0031978493916402693,-0.0034379968880782],"tcp_position_m":[0.08125537450806537,0.477235722588393,0.43499999907947395],"tcp_quaternion_wxyz":[-1.8055613070722055e-10,0.7071067812061312,0.7071067811669635,4.6146560546807367e-10],"object_position_m":[0.08123550789959574,0.4777356024076582,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994429,-3.834902728686111e-12,1.6797518272031172e-13,1.0557510623131344e-06],"object_linear_velocity_m_s":[-2.4520817529864464e-13,-5.598285927539245e-12,1.3542746729166213e-14],"object_angular_velocity_rad_s":[4.5155524482823356e-11,-1.9783782639407924e-12,3.90278439504774e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221318136,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629924957,-1.6109718312046986,1.3254580468325179,-1.309746388057556,-1.5707951084217393,-0.4491079361976875,0.0],"actuator_force":[7.196831575129181e-09,-18.988043914472655,-20.286344660210943,-2.4133256526612286,0.0006091849908216318,-1.7647039385337848e-10,-0.2933611126844056],"issued_joint_targets_rad":[-2.019904262992253,-1.6014778092489468,1.335601219206489,-1.3049197367729097,-1.5707963267926885,-0.44910793619743733],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.679999999997303,"joint_targets_rad":[-2.019904262992253,-1.6014778092489468,1.335601219206489,-1.3049197367729097,-1.5707963267926885,-0.44910793619743733],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.699999999997292,"qpos":[-2.0199042630746664,-1.6014778104226735,1.3356012227626624,-1.304919740035027,-1.5707963267618217,-0.44910793622926504,0.0029336111698949874,0.00015630156056070391,0.003193479467324926,-0.00342929894039493,0.0029336110732238016,0.0001563011089645125,0.003197849385695969,-0.0034379968889380217,0.08123550789959133,0.4777356024075577,0.2998922445797833,0.9999999999994428,-3.268049451795325e-12,1.4313893208744055e-13,1.0561109678465944e-06],"qvel":[3.9570474662380453e-10,5.885358270169085e-09,-1.7995335484790815e-08,1.6421340766294334e-08,-1.483066546135257e-10,1.6075582022795145e-10,4.107000883428249e-10,2.5522195820480085e-09,-2.358357588807241e-09,-2.573881006509177e-10,-2.2419760484499214e-10,-1.645254881670931e-09,1.5988473570342274e-09,1.0814549551160923e-10,-2.624756439599517e-13,-5.992968913225982e-12,1.3424785532799787e-14,-6.098632795285099e-11,2.669915356841024e-12,7.12549873493638e-08],"joint_position_rad":[-2.0199042630746664,-1.6014778104226735,1.3356012227626624,-1.304919740035027,-1.5707963267618217,-0.44910793622926504],"joint_velocity_rad_s":[3.9570474662380453e-10,5.885358270169085e-09,-1.7995335484790815e-08,1.6421340766294334e-08,-1.483066546135257e-10,1.6075582022795145e-10],"linkage_position_rad":[0.0029336111698949874,0.00015630156056070391,0.003193479467324926,-0.00342929894039493,0.0029336110732238016,0.0001563011089645125,0.003197849385695969,-0.0034379968889380217],"tcp_position_m":[0.08125537450624801,0.4772357225915552,0.43499999916823495],"tcp_quaternion_wxyz":[-1.6412879179467682e-10,0.7071067812044035,0.7071067811686907,4.1940300488353604e-10],"object_position_m":[0.08123550789959133,0.4777356024075577,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994428,-3.268049451795325e-12,1.4313893208744055e-13,1.0561109678465944e-06],"object_linear_velocity_m_s":[-2.624756439599517e-13,-5.992968913225982e-12,1.3424785532799787e-14],"object_angular_velocity_rad_s":[-6.098633357177055e-11,2.6697870059050578e-12,7.125498734936387e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286127,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262992253,-1.6109718312045032,1.3254580468296762,-1.3097463880536955,-1.5707951084219798,-0.4491079361974362,0.0],"actuator_force":[6.545178621308878e-09,-18.98804391780277,-20.28634466783842,-2.4133256514683126,0.0006091847516245252,-1.6117951417982113e-10,-0.29336111308845186],"issued_joint_targets_rad":[-2.0199042629920334,-1.601477809247025,1.335601219203286,-1.3049197367696885,-1.5707963267928964,-0.44910793619721123],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.699999999997292,"joint_targets_rad":[-2.0199042629920334,-1.601477809247025,1.335601219203286,-1.3049197367696885,-1.5707963267928964,-0.44910793619721123],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.719999999997281,"qpos":[-2.0199042630671356,-1.6014778103107752,1.3356012224208877,-1.3049197397230932,-1.570796326764789,-0.4491079362261938,0.002933611168596045,0.0001563015536594353,0.003193479474481934,-0.003429298940743001,0.0029336110744701124,0.00015630111328941883,0.0031978493813995877,-0.0034379968890886066,0.08123550789958767,0.4777356024074744,0.2998922445797833,0.9999999999994428,-2.551612612206713e-12,1.1175644246180888e-13,1.0563812549865426e-06],"qvel":[3.5773690159993925e-10,5.334299579650539e-09,-1.6283130006693492e-08,1.486277341117363e-08,-1.4398452694890245e-10,1.4637916624539532e-10,-7.727176211614691e-10,-3.8284176328369515e-09,3.8404852148716635e-09,2.4521940747103054e-10,7.399915323804525e-10,2.440630087831374e-09,-2.3299272413866907e-09,-2.1704888751065605e-10,-1.392841295670765e-13,-3.180194752202801e-12,1.371760685554467e-14,1.2023411534486076e-10,-5.266295763872384e-12,7.719894360257833e-09],"joint_position_rad":[-2.0199042630671356,-1.6014778103107752,1.3356012224208877,-1.3049197397230932,-1.570796326764789,-0.4491079362261938],"joint_velocity_rad_s":[3.5773690159993925e-10,5.334299579650539e-09,-1.6283130006693492e-08,1.486277341117363e-08,-1.4398452694890245e-10,1.4637916624539532e-10],"linkage_position_rad":[0.002933611168596045,0.0001563015536594353,0.003193479474481934,-0.003429298940743001,0.0029336110744701124,0.00015630111328941883,0.0031978493813995877,-0.0034379968890886066],"tcp_position_m":[0.08125537450458253,0.4772357225944202,0.4349999992484334],"tcp_quaternion_wxyz":[-1.49189306804353e-10,0.7071067812028268,0.7071067811702677,3.811620145331409e-10],"object_position_m":[0.08123550789958767,0.4777356024074744,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994428,-2.551612612206713e-12,1.1175644246180888e-13,1.0563812549865426e-06],"object_linear_velocity_m_s":[-1.392841295670765e-13,-3.180194752202801e-12,1.371760685554467e-14],"object_angular_velocity_rad_s":[1.202341264727503e-10,-5.266041698332957e-12,7.719894360257844e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221265204,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629920334,-1.610971831204329,1.3254580468271038,-1.309746388050201,-1.5707951084221974,-0.4491079361972102,0.0],"actuator_force":[7.10952008375898e-09,-18.98804392082775,-20.286344674315842,-2.413325649831222,0.0006091856942020968,-1.460875864722766e-10,-0.29336111198967746],"issued_joint_targets_rad":[-2.019904262991834,-1.6014778092452862,1.3356012192003874,-1.3049197367667726,-1.570796326793085,-0.449107936197005],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.719999999997281,"joint_targets_rad":[-2.019904262991834,-1.6014778092452862,1.3356012192003874,-1.3049197367667726,-1.570796326793085,-0.449107936197005],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.73999999999727,"qpos":[-2.0199042630602633,-1.6014778102093554,1.3356012221116575,-1.3049197394406622,-1.570796326767457,-0.44910793622339706,0.0029336111730293903,0.0001563015751405036,0.0031934794535013445,-0.003429298941712718,0.0029336110709362795,0.0001563010996600479,0.0031978493944045693,-0.0034379968882842895,0.08123550789958385,0.4777356024073872,0.2998922445797833,0.9999999999994416,-2.4732791066228168e-12,1.0832007052705549e-13,1.056874731048198e-06],"qvel":[3.2899347032701274e-10,4.834733992897696e-09,-1.4731433412580185e-08,1.3459585594096235e-08,-1.2574181564229566e-10,1.3329609626054001e-10,1.0086505745127242e-09,4.461358174193669e-09,-4.51705997884167e-09,-1.663007435768053e-10,-9.424921517563176e-10,-2.860580060498978e-09,2.747148384855602e-09,2.2152670614298311e-10,-1.3588850350378363e-13,-3.1027809284805175e-12,1.3416458860115095e-14,9.540521875560347e-11,-4.1787089813884175e-12,1.4094577589053357e-08],"joint_position_rad":[-2.0199042630602633,-1.6014778102093554,1.3356012221116575,-1.3049197394406622,-1.570796326767457,-0.44910793622339706],"joint_velocity_rad_s":[3.2899347032701274e-10,4.834733992897696e-09,-1.4731433412580185e-08,1.3459585594096235e-08,-1.2574181564229566e-10,1.3329609626054001e-10],"linkage_position_rad":[0.0029336111730293903,0.0001563015751405036,0.0031934794535013445,-0.003429298941712718,0.0029336110709362795,0.0001563010996600479,0.0031978493944045693,-0.0034379968882842895],"tcp_position_m":[0.0812553745030424,0.4772357225970161,0.43499999932089284],"tcp_quaternion_wxyz":[-1.3561813409810477e-10,0.7071067812013858,0.7071067811717084,3.463819486294575e-10],"object_position_m":[0.08123550789958385,0.4777356024073872,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994416,-2.4732791066228168e-12,1.0832007052705549e-13,1.056874731048198e-06],"object_linear_velocity_m_s":[-1.3588850350378363e-13,-3.1027809284805175e-12,1.3416458860115095e-14],"object_angular_velocity_rad_s":[9.540522759118759e-11,-4.1785072489296054e-12,1.4094577589053357e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221329005,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262991834,-1.6109718312041756,1.3254580468247756,-1.3097463880470366,-1.5707951084223952,-0.44910793619700407,0.0],"actuator_force":[5.260972102405503e-09,-18.988043923534406,-20.286344681190258,-2.413325649145804,0.0006091851050769037,-1.3309886526258197e-10,-0.2933611125290756],"issued_joint_targets_rad":[-2.0199042629916537,-1.6014778092437114,1.3356012191977624,-1.3049197367641325,-1.5707963267932554,-0.44910793619681866],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.73999999999727,"joint_targets_rad":[-2.0199042629916537,-1.6014778092437114,1.3356012191977624,-1.3049197367641325,-1.5707963267932554,-0.44910793619681866],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.759999999997259,"qpos":[-2.0199042630540087,-1.6014778101174343,1.335601221831867,-1.304919739184973,-1.570796326769916,-0.4491079362208503,0.0029336111708624098,0.00015630156406015757,0.0031934794644079205,-0.0034292989411465378,0.002933611073175936,0.00015630110681832656,0.0031978493879174234,-0.003437996889114524,0.08123550789958069,0.4777356024073147,0.2998922445797833,0.9999999999994414,-2.251333306378965e-12,9.859077357991289e-14,1.0573131735702781e-06],"qvel":[3.0035477671247234e-10,4.381921357811144e-09,-1.3328711323348452e-08,1.2187326343666019e-08,-1.1117840015021259e-10,1.213791889516431e-10,7.059110050260395e-10,3.853052817427932e-09,-3.6968260278576306e-09,-3.1649232014380665e-10,-5.529484087800803e-10,-2.4783369269709503e-09,2.359375234761135e-09,2.0601647722565343e-10,-1.3143771452300487e-13,-3.001471721877367e-12,1.3341518805952895e-14,5.8105178359060436e-11,-2.545083244046905e-12,2.5733139357860625e-08],"joint_position_rad":[-2.0199042630540087,-1.6014778101174343,1.335601221831867,-1.304919739184973,-1.570796326769916,-0.4491079362208503],"joint_velocity_rad_s":[3.0035477671247234e-10,4.381921357811144e-09,-1.3328711323348452e-08,1.2187326343666019e-08,-1.1117840015021259e-10,1.213791889516431e-10],"linkage_position_rad":[0.0029336111708624098,0.00015630156406015757,0.0031934794644079205,-0.0034292989411465378,0.002933611073175936,0.00015630110681832656,0.0031978493879174234,-0.003437996889114524],"tcp_position_m":[0.08125537450164413,0.4772357225993675,0.43499999938636646],"tcp_quaternion_wxyz":[-1.2326756731315e-10,0.7071067812000751,0.7071067811730196,3.147772227946019e-10],"object_position_m":[0.08123550789958069,0.4777356024073147,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994414,-2.251333306378965e-12,9.859077357991289e-14,1.0573131735702781e-06],"object_linear_velocity_m_s":[-1.3143771452300487e-13,-3.001471721877367e-12,1.3341518805952895e-14],"object_angular_velocity_rad_s":[5.810518374590463e-11,-2.5449602574324006e-12,2.5733139357860648e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221294904,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629916537,-1.6109718312040386,1.3254580468226667,-1.3097463880441704,-1.5707951084225735,-0.4491079361968178,0.0],"actuator_force":[4.567937139654532e-09,-18.98804392597731,-20.286344686916436,-2.4133256483313517,0.0006091847891411817,-1.2167333807155956e-10,-0.29336111296673023],"issued_joint_targets_rad":[-2.0199042629914903,-1.6014778092422863,1.3356012191953872,-1.3049197367617433,-1.57079632679341,-0.4491079361966497],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.759999999997259,"joint_targets_rad":[-2.0199042629914903,-1.6014778092422863,1.3356012191953872,-1.3049197367617433,-1.57079632679341,-0.4491079361966497],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.779999999997248,"qpos":[-2.019904263048308,-1.601477810034122,1.3356012215787152,-1.304919738953483,-1.5707963267721625,-0.44910793621853157,0.0029336111687624875,0.00015630155351789338,0.0031934794752131557,-0.003429298941256787,0.0029336110751621005,0.00015630111346616015,0.003197849381441366,-0.00343799688944988,0.08123550789957797,0.47773560240725266,0.2998922445797833,0.9999999999994413,-2.010334369751882e-12,8.803445528548946e-14,1.0577338926417697e-06],"qvel":[2.7255505841345616e-10,3.971498613618764e-09,-1.2060325499737315e-08,1.1033358470056413e-08,-1.0152586051813598e-10,1.1052373530365807e-10,-4.920181395188806e-11,2.6375069575052877e-10,-6.85122021849223e-11,-1.1074458170504483e-10,2.1577350780037664e-10,-1.871389593447283e-10,2.227171774977767e-10,-2.439899922566437e-11,-1.3355664672927007e-13,-3.0499467666317285e-12,1.3562175632097146e-14,1.1153644484108588e-11,-4.884570005444476e-13,4.698221403063739e-08],"joint_position_rad":[-2.019904263048308,-1.601477810034122,1.3356012215787152,-1.304919738953483,-1.5707963267721625,-0.44910793621853157],"joint_velocity_rad_s":[2.7255505841345616e-10,3.971498613618764e-09,-1.2060325499737315e-08,1.1033358470056413e-08,-1.0152586051813598e-10,1.1052373530365807e-10],"linkage_position_rad":[0.0029336111687624875,0.00015630155351789338,0.0031934794752131557,-0.003429298941256787,0.0029336110751621005,0.00015630111346616015,0.003197849381441366,-0.00343799688944988],"tcp_position_m":[0.08125537450036485,0.4772357226014978,0.43499999944552536],"tcp_quaternion_wxyz":[-1.1203535899926713e-10,0.7071067811988793,0.7071067811742154,2.860493914120656e-10],"object_position_m":[0.08123550789957797,0.47773560240725266,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994413,-2.010334369751882e-12,8.803445528548946e-14,1.0577338926417697e-06],"object_linear_velocity_m_s":[-1.3355664672927007e-13,-3.0499467666317285e-12,1.3562175632097146e-14],"object_angular_velocity_rad_s":[1.1153645525670603e-11,-4.884332164678328e-13,4.6982214030637465e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221262157,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629914903,-1.6109718312039176,1.3254580468207582,-1.3097463880415758,-1.5707951084227354,-0.4491079361966489,0.0],"actuator_force":[4.6134118747431785e-09,-18.988043928190564,-20.286344691784052,-2.413325647382294,0.0006091848661071708,-1.1104361874458846e-10,-0.29336111302908785],"issued_joint_targets_rad":[-2.019904262991342,-1.6014778092409965,1.3356012191932374,-1.3049197367595804,-1.57079632679355,-0.4491079361964965],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.779999999997248,"joint_targets_rad":[-2.019904262991342,-1.6014778092409965,1.3356012191932374,-1.3049197367595804,-1.57079632679355,-0.4491079361964965],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.799999999997237,"qpos":[-2.01990426304311,-1.601477809958614,1.335601221349668,-1.3049197387438967,-1.5707963267742033,-0.4491079362164204,0.0029336111711803113,0.00015630156299939043,0.0031934794652708175,-0.003429298940922829,0.0029336110727348442,0.00015630110762454005,0.003197849386830495,-0.003437996889180957,0.08123550789957576,0.4777356024072022,0.2998922445797833,0.9999999999994412,-1.6229925175754928e-12,7.107692730775076e-14,1.0580479210753207e-06],"qvel":[2.4224978364071084e-10,3.599532668667481e-09,-1.0913772426041353e-08,9.975426387457581e-09,-1.2262017357420725e-10,1.0060285076056945e-10,-2.0639028678350893e-09,-1.187667174923497e-08,1.1144941551739892e-08,1.1693617090573573e-09,1.3873292301926606e-09,7.733991803962393e-09,-7.499331775459483e-09,-6.010665160290903e-10,-1.461784482993421e-13,-3.3372121532560164e-12,1.3842506945814999e-14,-5.033841721117151e-11,2.20748631905314e-12,8.577765829078448e-08],"joint_position_rad":[-2.01990426304311,-1.601477809958614,1.335601221349668,-1.3049197387438967,-1.5707963267742033,-0.4491079362164204],"joint_velocity_rad_s":[2.4224978364071084e-10,3.599532668667481e-09,-1.0913772426041353e-08,9.975426387457581e-09,-1.2262017357420725e-10,1.0060285076056945e-10],"linkage_position_rad":[0.0029336111711803113,0.00015630156299939043,0.0031934794652708175,-0.003429298940922829,0.0029336110727348442,0.00015630110762454005,0.003197849386830495,-0.003437996889180957],"tcp_position_m":[0.08125537449918985,0.4772357226034271,0.4349999994989775],"tcp_quaternion_wxyz":[-1.0182473982442447e-10,0.7071067811977879,0.7071067811753068,2.5993224564807385e-10],"object_position_m":[0.08123550789957576,0.4777356024072022,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994412,-1.6229925175754928e-12,7.107692730775076e-14,1.0580479210753207e-06],"object_linear_velocity_m_s":[-1.461784482993421e-13,-3.3372121532560164e-12,1.3842506945814999e-14],"object_angular_velocity_rad_s":[-5.03384218701182e-11,2.207380076565849e-12,8.577765829078466e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129613,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262991342,-1.6109718312038106,1.3254580468190305,-1.3097463880392264,-1.5707951084228828,-0.4491079361964958,0.0],"actuator_force":[6.636128091486171e-09,-18.988043930206004,-20.28634469576582,-2.4133256452074647,0.0006091879223504293,-9.799805411603302e-11,-0.29336110881288957],"issued_joint_targets_rad":[-2.0199042629912083,-1.6014778092398285,1.3356012191912907,-1.3049197367576224,-1.570796326793677,-0.4491079361963581],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.799999999997237,"joint_targets_rad":[-2.0199042629912083,-1.6014778092398285,1.3356012191912907,-1.3049197367576224,-1.570796326793677,-0.4491079361963581],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.819999999997226,"qpos":[-2.0199042630383692,-1.601477809890179,1.3356012211424282,-1.3049197385541322,-1.5707963267760339,-0.44910793621449807,0.0029336111719341904,0.00015630156821392743,0.003193479460678578,-0.0034292989418009453,0.0029336110727774464,0.0001563011042064168,0.003197849390518522,-0.0034379968891268286,0.0812355078995738,0.47773560240715757,0.2998922445797833,0.9999999999994401,-1.3311433062449776e-12,5.830470893437566e-14,1.0583732961654408e-06],"qvel":[2.2776117249897215e-10,3.2622867954294298e-09,-9.872400058027406e-09,9.044627326667576e-09,-8.402646640435661e-11,9.161994720099525e-11,9.022487570492925e-10,4.497393025759781e-09,-4.405205742581021e-09,-3.088092362449787e-10,-7.944333017887901e-10,-2.894167950065372e-09,2.735025785824921e-09,2.597372893280804e-10,-7.297169369268621e-14,-1.666067384953227e-12,1.3322089903021957e-14,5.992370441045434e-11,-2.6244690117501526e-12,9.293306828141284e-09],"joint_position_rad":[-2.0199042630383692,-1.601477809890179,1.3356012211424282,-1.3049197385541322,-1.5707963267760339,-0.44910793621449807],"joint_velocity_rad_s":[2.2776117249897215e-10,3.2622867954294298e-09,-9.872400058027406e-09,9.044627326667576e-09,-8.402646640435661e-11,9.161994720099525e-11],"linkage_position_rad":[0.0029336111719341904,0.00015630156821392743,0.003193479460678578,-0.0034292989418009453,0.0029336110727774464,0.0001563011042064168,0.003197849390518522,-0.0034379968891268286],"tcp_position_m":[0.08125537449810424,0.4772357226051751,0.43499999954727364],"tcp_quaternion_wxyz":[-9.255257295388942e-11,0.7071067811967915,0.7071067811763028,2.361815608070323e-10],"object_position_m":[0.0812355078995738,0.47773560240715757,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994401,-1.3311433062449776e-12,5.830470893437566e-14,1.0583732961654408e-06],"object_linear_velocity_m_s":[-7.297169369268621e-14,-1.666067384953227e-12,1.3322089903021957e-14],"object_angular_velocity_rad_s":[5.992370996673962e-11,-2.624342143705716e-12,9.293306828141288e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221306187,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629912083,-1.6109718312037153,1.325458046817466,-1.3097463880370985,-1.5707951084230156,-0.44910793619635747,0.0],"actuator_force":[3.2173375075217336e-09,-18.98804393198725,-20.28634470096449,-2.4133256459458607,0.0006091849116955927,-9.168843462248333e-11,-0.2933611127746591],"issued_joint_targets_rad":[-2.0199042629910866,-1.601477809238771,1.3356012191895295,-1.3049197367558514,-1.5707963267937917,-0.4491079361962329],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.819999999997226,"joint_targets_rad":[-2.0199042629910866,-1.601477809238771,1.3356012191895295,-1.3049197367558514,-1.5707963267937917,-0.4491079361962329],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.839999999997215,"qpos":[-2.019904263034057,-1.6014778098281557,1.3356012209549166,-1.3049197383823432,-1.5707963267777354,-0.44910793621274797,0.0029336111715360263,0.00015630156296864758,0.0031934794649566985,-0.0034292989402171384,0.0029336110730202054,0.00015630110772866444,0.0031978493874854227,-0.0034379968899650973,0.08123550789957193,0.47773560240711455,0.2998922445797833,0.99999999999944,-1.2587008367020924e-12,5.5123955767256887e-14,1.0588424591640545e-06],"qvel":[2.0738153426076533e-10,2.956628328086384e-09,-8.932700228728808e-09,8.189672177416059e-09,-7.358654198545443e-11,8.341874239314519e-11,2.873921094193122e-10,1.911978829871776e-09,-1.776851908057539e-09,-1.6256342277529258e-10,-9.893278225965572e-11,-1.248557163150885e-09,1.288251458233755e-09,1.787679652390156e-11,-7.018924380578963e-14,-1.6027160364794603e-12,1.3483072241592605e-14,4.414884880655718e-11,-1.9338766033529014e-12,1.6967231413559697e-08],"joint_position_rad":[-2.019904263034057,-1.6014778098281557,1.3356012209549166,-1.3049197383823432,-1.5707963267777354,-0.44910793621274797],"joint_velocity_rad_s":[2.0738153426076533e-10,2.956628328086384e-09,-8.932700228728808e-09,8.189672177416059e-09,-7.358654198545443e-11,8.341874239314519e-11],"linkage_position_rad":[0.0029336111715360263,0.00015630156296864758,0.0031934794649566985,-0.0034292989402171384,0.0029336110730202054,0.00015630110772866444,0.0031978493874854227,-0.0034379968899650973],"tcp_position_m":[0.08125537449712376,0.4772357226067585,0.43499999959091507],"tcp_quaternion_wxyz":[-8.41102552363299e-11,0.7071067811958857,0.7071067811772086,2.1460867750521281e-10],"object_position_m":[0.08123550789957193,0.47773560240711455,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999944,-1.2587008367020924e-12,5.5123955767256887e-14,1.0588424591640545e-06],"object_linear_velocity_m_s":[-7.018924380578963e-14,-1.6027160364794603e-12,1.3483072241592605e-14],"object_angular_velocity_rad_s":[4.4148852903670114e-11,-1.93378306728395e-12,1.6967231413559717e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221293701,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629910866,-1.6109718312036305,1.3254580468160502,-1.3097463880351732,-1.570795108423136,-0.44910793619623235,0.0],"actuator_force":[2.9881448426749557e-09,-18.988043933601148,-20.286344704652947,-2.4133256453822014,0.0006091846582876315,-8.407141649513505e-11,-0.2933611131701082],"issued_joint_targets_rad":[-2.0199042629909765,-1.6014778092378141,1.3356012191879345,-1.3049197367542469,-1.570796326793896,-0.44910793619611883],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.839999999997215,"joint_targets_rad":[-2.0199042629909765,-1.6014778092378141,1.3356012191879345,-1.3049197367542469,-1.570796326793896,-0.44910793619611883],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.859999999997203,"qpos":[-2.019904263030125,-1.601477809771943,1.3356012207852588,-1.3049197382268105,-1.5707963267792864,-0.4491079362111547,0.0029336111708669274,0.00015630155851709097,0.0031934794691024387,-0.003429298940094695,0.0029336110734486057,0.00015630111057764613,0.0031978493847413733,-0.003437996890090445,0.0812355078995703,0.4777356024070772,0.2998922445797833,0.9999999999994398,-1.1740996385540171e-12,5.140178523916753e-14,1.0593084834713534e-06],"qvel":[1.8574533181603774e-10,2.6796430934088762e-09,-8.083575402232948e-09,7.409773871754785e-09,-7.630598837919562e-11,7.594063578559113e-11,-9.52602346637868e-10,-5.097451581543348e-09,4.996555697381633e-09,3.8480686172953427e-10,9.17152205882965e-10,3.26637775596602e-09,-2.9979821647161663e-09,-3.4068870739551894e-10,-6.982184207862477e-14,-1.5948998082637038e-12,1.3681524607244353e-14,2.439562610144465e-11,-1.069343279374864e-12,3.0977879801045853e-08],"joint_position_rad":[-2.019904263030125,-1.601477809771943,1.3356012207852588,-1.3049197382268105,-1.5707963267792864,-0.4491079362111547],"joint_velocity_rad_s":[1.8574533181603774e-10,2.6796430934088762e-09,-8.083575402232948e-09,7.409773871754785e-09,-7.630598837919562e-11,7.594063578559113e-11],"linkage_position_rad":[0.0029336111708669274,0.00015630155851709097,0.0031934794691024387,-0.003429298940094695,0.0029336110734486057,0.00015630111057764613,0.0031978493847413733,-0.003437996890090445],"tcp_position_m":[0.0812553744962248,0.47723572260819247,0.4349999996303472],"tcp_quaternion_wxyz":[-7.643402317680717e-11,0.7071067811950588,0.7071067811780359,1.9499987716001543e-10],"object_position_m":[0.0812355078995703,0.4777356024070772,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994398,-1.1740996385540171e-12,5.140178523916753e-14,1.0593084834713534e-06],"object_linear_velocity_m_s":[-6.982184207862477e-14,-1.5948998082637038e-12,1.3681524607244353e-14],"object_angular_velocity_rad_s":[2.439562837010332e-11,-1.06929152164285e-12,3.0977879801045906e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282602,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629909765,-1.610971831203556,1.3254580468147676,-1.3097463880334286,-1.5707951084232454,-0.44910793619611833,0.0],"actuator_force":[3.9990482036955655e-09,-18.988043935082715,-20.286344707552416,-2.413325644286374,0.0006091856510010984,-7.58575424697483e-11,-0.29336111203852594],"issued_joint_targets_rad":[-2.019904262990877,-1.6014778092369477,1.3356012191864908,-1.3049197367527945,-1.5707963267939902,-0.4491079361960153],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.859999999997203,"joint_targets_rad":[-2.019904262990877,-1.6014778092369477,1.3356012191864908,-1.3049197367527945,-1.5707963267939902,-0.4491079361960153],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.879999999997192,"qpos":[-2.019904263026532,-1.6014778097209978,1.335601220631756,-1.3049197380859774,-1.5707963267806577,-0.4491079362097041,0.0029336111731325964,0.00015630157276145512,0.003193479456296365,-0.0034292989422831325,0.0029336110720640683,0.0001563011012586686,0.0031978493934691995,-0.0034379968890909454,0.08123550789956896,0.47773560240704627,0.2998922445797833,0.9999999999994386,-1.008177195601347e-12,4.412396192478361e-14,1.0596923347377347e-06],"qvel":[1.725320017867799e-10,2.4285520188454847e-09,-7.312478357783035e-09,6.712078191992522e-09,-6.389280440590818e-11,6.91367657964194e-11,1.0170385028210372e-09,4.695087831791828e-09,-4.663964944290039e-09,-2.6547628953951286e-10,-9.49562325301059e-10,-3.0188661233085248e-09,2.8437313549353955e-09,2.809842586863873e-10,-7.205023719859573e-14,-1.6463968257359142e-12,1.3730096864571705e-14,-2.796122121957394e-12,1.2058400705722298e-13,5.655778562428877e-08],"joint_position_rad":[-2.019904263026532,-1.6014778097209978,1.335601220631756,-1.3049197380859774,-1.5707963267806577,-0.4491079362097041],"joint_velocity_rad_s":[1.725320017867799e-10,2.4285520188454847e-09,-7.312478357783035e-09,6.712078191992522e-09,-6.389280440590818e-11,6.91367657964194e-11],"linkage_position_rad":[0.0029336111731325964,0.00015630157276145512,0.003193479456296365,-0.0034292989422831325,0.0029336110720640683,0.0001563011012586686,0.0031978493934691995,-0.0034379968890909454],"tcp_position_m":[0.08125537449538492,0.47723572260949154,0.43499999966597347],"tcp_quaternion_wxyz":[-6.947146286542306e-11,0.7071067811943014,0.7071067811787933,1.7716013903297103e-10],"object_position_m":[0.08123550789956896,0.47773560240704627,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994386,-1.008177195601347e-12,4.412396192478361e-14,1.0596923347377347e-06],"object_linear_velocity_m_s":[-7.205023719859573e-14,-1.6463968257359142e-12,1.3730096864571705e-14],"object_angular_velocity_rad_s":[-2.7961223725240236e-12,1.205781950391376e-13,5.655778562428877e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221319111,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990877,-1.6109718312034897,1.3254580468136066,-1.3097463880318487,-1.5707951084233442,-0.4491079361960148,0.0],"actuator_force":[2.2973836166784167e-09,-18.988043936404665,-20.286344711307265,-2.4133256441434696,0.0006091850459597481,-6.903633220645133e-11,-0.29336111259721415],"issued_joint_targets_rad":[-2.0199042629907864,-1.6014778092361632,1.3356012191851832,-1.3049197367514798,-1.5707963267940754,-0.44910793619592204],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.879999999997192,"joint_targets_rad":[-2.0199042629907864,-1.6014778092361632,1.3356012191851832,-1.3049197367514798,-1.5707963267940754,-0.44910793619592204],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.899999999997181,"qpos":[-2.0199042630232706,-1.601477809674826,1.3356012204928633,-1.3049197379584905,-1.5707963267819431,-0.4491079362083835,0.002933611172209583,0.000156301565974644,0.0031934794623112166,-0.0034292989407082894,0.002933611072881853,0.0001563011057863314,0.0031978493894657327,-0.0034379968900338873,0.08123550789956784,0.47773560240702057,0.2998922445797833,0.9999999999994384,-8.151891438038403e-13,3.56611874124936e-14,1.0600097126780877e-06],"qvel":[1.5766729485003255e-10,2.2009426238841342e-09,-6.616217734980966e-09,6.078408888382491e-09,-5.451964322780313e-11,6.294348250535234e-11,5.91537612847589e-10,3.3604730058790963e-09,-3.2344129810885972e-09,-2.575299415427876e-10,-4.3439783926688173e-10,-2.1763429017085553e-09,2.120099251116912e-09,1.3650215118368918e-10,-8.106250187007654e-14,-1.8547118080695222e-12,1.335955993010306e-14,-3.7985450433014904e-11,1.6538163579449834e-12,1.0326023392227707e-07],"joint_position_rad":[-2.0199042630232706,-1.601477809674826,1.3356012204928633,-1.3049197379584905,-1.5707963267819431,-0.4491079362083835],"joint_velocity_rad_s":[1.5766729485003255e-10,2.2009426238841342e-09,-6.616217734980966e-09,6.078408888382491e-09,-5.451964322780313e-11,6.294348250535234e-11],"linkage_position_rad":[0.002933611172209583,0.000156301565974644,0.0031934794623112166,-0.0034292989407082894,0.002933611072881853,0.0001563011057863314,0.0031978493894657327,-0.0034379968900338873],"tcp_position_m":[0.08125537449463278,0.4772357226106683,0.4349999996981684],"tcp_quaternion_wxyz":[-6.312857189166601e-11,0.707106781193615,0.7071067811794792,1.609629348622874e-10],"object_position_m":[0.08123550789956784,0.47773560240702057,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994384,-8.151891438038403e-13,3.56611874124936e-14,1.0600097126780877e-06],"object_linear_velocity_m_s":[-8.106250187007654e-14,-1.8547118080695222e-12,1.335955993010306e-14],"object_angular_velocity_rad_s":[-3.7985453931687776e-11,1.6537359964017198e-12,1.032602339222771e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221300938,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629907864,-1.610971831203431,1.3254580468125547,-1.309746388030418,-1.5707951084234337,-0.4491079361959216,0.0],"actuator_force":[1.9012986740563065e-09,-18.98804393758701,-20.286344714129882,-2.413325643804683,0.0006091847067182243,-6.338041202980094e-11,-0.2933611130402707],"issued_joint_targets_rad":[-2.019904262990705,-1.6014778092354538,1.3356012191840012,-1.30491973675029,-1.5707963267941527,-0.449107936195838],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.899999999997181,"joint_targets_rad":[-2.019904262990705,-1.6014778092354538,1.3356012191840012,-1.30491973675029,-1.5707963267941527,-0.449107936195838],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.91999999999717,"qpos":[-2.019904263020298,-1.6014778096329811,1.3356012203671939,-1.3049197378430712,-1.5707963267831184,-0.44910793620718154,0.00293361117069658,0.00015630155736271796,0.003193479470631193,-0.0034292989403427268,0.0029336110741303837,0.00015630111129508282,0.0031978493842726454,-0.0034379968903835946,0.0812355078995668,0.47773560240699653,0.2998922445797833,0.9999999999994384,-7.093007729777985e-13,3.10037230719223e-14,1.060401403341928e-06],"qvel":[1.4231016816012727e-10,1.9946702606239895e-09,-5.987057373494739e-09,5.502451966292356e-09,-4.990300170461168e-11,5.729973998308894e-11,-2.1939724176448261e-10,-7.15328577314423e-10,8.527141479015683e-10,-1.964498155821343e-11,3.925168352837952e-10,4.31050906864298e-10,-2.8083632188675036e-10,-1.2470598603087102e-10,-3.8734174829293645e-14,-8.860505693735425e-13,1.3628789013574658e-14,3.0220515002874446e-11,-1.3218743162767198e-12,1.1187400730182343e-08],"joint_position_rad":[-2.019904263020298,-1.6014778096329811,1.3356012203671939,-1.3049197378430712,-1.5707963267831184,-0.44910793620718154],"joint_velocity_rad_s":[1.4231016816012727e-10,1.9946702606239895e-09,-5.987057373494739e-09,5.502451966292356e-09,-4.990300170461168e-11,5.729973998308894e-11],"linkage_position_rad":[0.00293361117069658,0.00015630155736271796,0.003193479470631193,-0.0034292989403427268,0.0029336110741303837,0.00015630111129508282,0.0031978493842726454,-0.0034379968903835946],"tcp_position_m":[0.08125537449394507,0.4772357226117341,0.4349999997272592],"tcp_quaternion_wxyz":[-5.736084853083354e-11,0.7071067811929891,0.7071067811801056,1.4624442487979573e-10],"object_position_m":[0.0812355078995668,0.47773560240699653,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994384,-7.093007729777985e-13,3.10037230719223e-14,1.060401403341928e-06],"object_linear_velocity_m_s":[-3.8734174829293645e-14,-8.860505693735425e-13,1.3628789013574658e-14],"object_angular_velocity_rad_s":[3.0220517806934974e-11,-1.3218102086502466e-12,1.1187400730182358e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221276104,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990705,-1.6109718312033796,1.3254580468116042,-1.3097463880291231,-1.5707951084235148,-0.4491079361958376,0.0],"actuator_force":[2.2619133233092725e-09,-18.988043938665214,-20.28634471635678,-2.4133256432711505,0.0006091847920970395,-5.803713065688498e-11,-0.2933611131069462],"issued_joint_targets_rad":[-2.019904262990631,-1.6014778092348114,1.3356012191829307,-1.3049197367492136,-1.5707963267942227,-0.44910793619576106],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.91999999999717,"joint_targets_rad":[-2.019904262990631,-1.6014778092348114,1.3356012191829307,-1.3049197367492136,-1.5707963267942227,-0.44910793619576106],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.939999999997159,"qpos":[-2.0199042630175845,-1.601477809595058,1.335601220253491,-1.3049197377385695,-1.5707963267841798,-0.44910793620608724,0.0029336111708880945,0.00015630155939759416,0.0031934794691407995,-0.0034292989413410645,0.002933611073877985,0.00015630110989891936,0.003197849385146223,-0.003437996889832565,0.08123550789956584,0.47773560240697494,0.2998922445797833,0.9999999999994383,-6.48636103895087e-13,2.8328982612220756e-14,1.06084580467197e-06],"qvel":[1.2313854518563268e-10,1.8077839860548348e-09,-5.418882330716555e-09,4.966835900489323e-09,-7.801830131906027e-11,5.212657828171094e-11,-2.292870358691789e-09,-1.3021875868783098e-08,1.227072527651677e-08,1.178134249034116e-09,1.5502881881645226e-09,8.424888972948471e-09,-8.18904346372425e-09,-6.021520459416728e-10,-3.680119971161141e-14,-8.425590681224495e-13,1.3921610336319544e-14,2.044480696893342e-11,-8.942314463345643e-13,2.0425368562026895e-08],"joint_position_rad":[-2.0199042630175845,-1.601477809595058,1.335601220253491,-1.3049197377385695,-1.5707963267841798,-0.44910793620608724],"joint_velocity_rad_s":[1.2313854518563268e-10,1.8077839860548348e-09,-5.418882330716555e-09,4.966835900489323e-09,-7.801830131906027e-11,5.212657828171094e-11],"linkage_position_rad":[0.0029336111708880945,0.00015630155939759416,0.0031934794691407995,-0.0034292989413410645,0.002933611073877985,0.00015630110989891936,0.003197849385146223,-0.003437996889832565],"tcp_position_m":[0.08125537449331036,0.4772357226126991,0.4349999997535432],"tcp_quaternion_wxyz":[-5.2120980227808876e-11,0.7071067811924167,0.707106781180678,1.3286290304678877e-10],"object_position_m":[0.08123550789956584,0.47773560240697494,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994383,-6.48636103895087e-13,2.8328982612220756e-14,1.06084580467197e-06],"object_linear_velocity_m_s":[-3.680119971161141e-14,-8.425590681224495e-13,1.3921610336319544e-14],"object_angular_velocity_rad_s":[2.0444808867328033e-11,-8.941880422598887e-13,2.0425368562026935e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282563,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990631,-1.6109718312033339,1.3254580468107429,-1.3097463880279512,-1.5707951084235885,-0.4491079361957607,0.0],"actuator_force":[4.6516106522176415e-09,-18.98804393966566,-20.286344717943393,-2.4133256413743993,0.0006091880975418462,-4.9396930990042165e-11,-0.2933611085253931],"issued_joint_targets_rad":[-2.019904262990564,-1.6014778092342297,1.3356012191819615,-1.3049197367482384,-1.5707963267942864,-0.4491079361956916],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.939999999997159,"joint_targets_rad":[-2.019904262990564,-1.6014778092342297,1.3356012191819615,-1.3049197367482384,-1.5707963267942864,-0.4491079361956916],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.959999999997148,"qpos":[-2.0199042630151105,-1.6014778095606896,1.3356012201506122,-1.3049197376439474,-1.5707963267851206,-0.44910793620509115,0.0029336111730356965,0.00015630156970331,0.003193479458873898,-0.003429298941197249,0.0029336110724482462,0.0001563011033664109,0.003197849391854177,-0.0034379968899534157,0.08123550789956505,0.4777356024069565,0.2998922445797833,0.9999999999994371,-5.873555495210287e-13,2.562553264262629e-14,1.0612807135636832e-06],"qvel":[1.1969156780600917e-10,1.638277156130538e-09,-4.9005376533344165e-09,4.511079597423117e-09,-4.110260517372658e-11,4.747600707055355e-11,7.975997585588083e-10,4.121240522762285e-09,-4.039744575068592e-09,-2.7921137018964813e-10,-6.851662966279163e-10,-2.6626462237736036e-09,2.5459832410624757e-09,2.0881869907577749e-10,-3.651332494718476e-14,-8.369498418600136e-13,1.3369274381568527e-14,8.52025863291121e-12,-3.7390945589959274e-13,3.729156495140949e-08],"joint_position_rad":[-2.0199042630151105,-1.6014778095606896,1.3356012201506122,-1.3049197376439474,-1.5707963267851206,-0.44910793620509115],"joint_velocity_rad_s":[1.1969156780600917e-10,1.638277156130538e-09,-4.9005376533344165e-09,4.511079597423117e-09,-4.110260517372658e-11,4.747600707055355e-11],"linkage_position_rad":[0.0029336111730356965,0.00015630156970331,0.003193479458873898,-0.003429298941197249,0.0029336110724482462,0.0001563011033664109,0.003197849391854177,-0.0034379968899534157],"tcp_position_m":[0.08125537449272138,0.4772357226135738,0.4349999997772928],"tcp_quaternion_wxyz":[-4.7368789072568735e-11,0.7071067811918941,0.7071067811812004,1.2069362784847917e-10],"object_position_m":[0.08123550789956505,0.4777356024069565,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994371,-5.873555495210287e-13,2.562553264262629e-14,1.0612807135636832e-06],"object_linear_velocity_m_s":[-3.651332494718476e-14,-8.369498418600136e-13,1.3369274381568527e-14],"object_angular_velocity_rad_s":[8.520259428448996e-12,-3.7389132731961e-13,3.729156495140951e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221310694,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990564,-1.6109718312032935,1.325458046809963,-1.309746388026889,-1.5707951084236553,-0.4491079361956913,0.0],"actuator_force":[1.2164491636212915e-09,-18.988043940518764,-20.286344721083424,-2.4133256425787977,0.0006091848428013691,-4.766320671478752e-11,-0.2933611128363644],"issued_joint_targets_rad":[-2.0199042629905035,-1.6014778092337034,1.3356012191810849,-1.3049197367473566,-1.5707963267943439,-0.44910793619562905],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.959999999997148,"joint_targets_rad":[-2.0199042629905035,-1.6014778092337034,1.3356012191810849,-1.3049197367473566,-1.5707963267943439,-0.44910793619562905],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.979999999997137,"qpos":[-2.019904263012863,-1.601477809529543,1.3356012200575256,-1.3049197375582957,-1.5707963267860092,-0.4491079362041846,0.002933611170973541,0.00015630155891112668,0.0031934794694735767,-0.0034292989407754657,0.002933611074307653,0.00015630111025486046,0.003197849385396136,-0.0034379968904543123,0.08123550789956437,0.47773560240694074,0.2998922445797833,0.9999999999994369,-5.130215211651596e-13,2.2361897146268953e-14,1.0616804229996529e-06],"qvel":[1.0887889976569566e-10,1.4846830166548176e-09,-4.4342277135753185e-09,4.085216692908499e-09,-3.4305727929969854e-11,4.321879373502127e-11,2.7128937439855e-10,2.0045213789962663e-09,-1.7988401274394646e-09,-2.3792781387345296e-10,-6.698275020996576e-11,-1.310797993584117e-09,1.3232464160533932e-09,5.06154558817809e-11,-3.886559132190301e-14,-8.919466450228952e-13,1.3415071081334317e-14,-6.613500254110452e-12,2.8552366245374824e-13,6.808498030789688e-08],"joint_position_rad":[-2.019904263012863,-1.601477809529543,1.3356012200575256,-1.3049197375582957,-1.5707963267860092,-0.4491079362041846],"joint_velocity_rad_s":[1.0887889976569566e-10,1.4846830166548176e-09,-4.4342277135753185e-09,4.085216692908499e-09,-3.4305727929969854e-11,4.321879373502127e-11],"linkage_position_rad":[0.002933611170973541,0.00015630155891112668,0.0031934794694735767,-0.0034292989407754657,0.002933611074307653,0.00015630111025486046,0.003197849385396136,-0.0034379968904543123],"tcp_position_m":[0.08125537449219483,0.47723572261436553,0.434999999798755],"tcp_quaternion_wxyz":[-4.3036965534875896e-11,0.7071067811914199,0.7071067811816746,1.0964869567128057e-10],"object_position_m":[0.08123550789956437,0.47773560240694074,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994369,-5.130215211651596e-13,2.2361897146268953e-14,1.0616804229996529e-06],"object_linear_velocity_m_s":[-3.886559132190301e-14,-8.919466450228952e-13,1.3415071081334317e-14],"object_angular_velocity_rad_s":[-6.613500857320369e-12,2.8550968946373383e-13,6.808498030789695e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221278139,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629905035,-1.610971831203258,1.3254580468092576,-1.309746388025928,-1.5707951084237155,-0.4491079361956288,0.0],"actuator_force":[1.1673364497255534e-09,-18.988043941303204,-20.28634472284466,-2.4133256423377816,0.0006091845775699767,-4.3968384488835e-11,-0.29336111328559283],"issued_joint_targets_rad":[-2.0199042629904485,-1.6014778092332265,1.3356012191802904,-1.3049197367465573,-1.5707963267943956,-0.4491079361955719],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.979999999997137,"joint_targets_rad":[-2.0199042629904485,-1.6014778092332265,1.3356012191802904,-1.3049197367465573,-1.5707963267943956,-0.4491079361955719],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":14.999999999997126,"qpos":[-2.0199042630108144,-1.6014778095013162,1.3356012199733023,-1.3049197374807506,-1.5707963267868224,-0.44910793620335937,0.002933611169840312,0.000156301553397026,0.0031934794752089555,-0.0034292989411136674,0.0029336110751081506,0.0001563011137091384,0.003197849381669986,-0.003437996890306071,0.08123550789956378,0.4777356024069281,0.2998922445797833,0.9999999999994369,-3.9109781276641367e-13,1.7037830485845578e-14,1.0619386855477931e-06],"qvel":[9.564776134658059e-11,1.3455354049496179e-09,-4.013558945459588e-09,3.6932833285736805e-09,-4.1344962023979014e-11,3.9332328219670544e-11,-1.0473258427466845e-09,-5.579450957123031e-09,5.479524090233573e-09,4.159701794154876e-10,1.00449531270551e-09,3.5585030772256322e-09,-3.275463238992249e-09,-3.6673253803587233e-10,-2.1216376394769328e-14,-4.869364475948927e-13,1.3723157970667796e-14,1.8844048333332503e-11,-8.214655337853641e-13,7.376450057139384e-09],"joint_position_rad":[-2.0199042630108144,-1.6014778095013162,1.3356012199733023,-1.3049197374807506,-1.5707963267868224,-0.44910793620335937],"joint_velocity_rad_s":[9.564776134658059e-11,1.3455354049496179e-09,-4.013558945459588e-09,3.6932833285736805e-09,-4.1344962023979014e-11,3.9332328219670544e-11],"linkage_position_rad":[0.002933611169840312,0.000156301553397026,0.0031934794752089555,-0.0034292989411136674,0.0029336110751081506,0.0001563011137091384,0.003197849381669986,-0.003437996890306071],"tcp_position_m":[0.08125537449171323,0.4772357226150822,0.4349999998181473],"tcp_quaternion_wxyz":[-3.909781678284399e-11,0.7071067811909875,0.7071067811821072,9.96119006735325e-11],"object_position_m":[0.08123550789956378,0.4777356024069281,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994369,-3.9109781276641367e-13,1.7037830485845578e-14,1.0619386855477931e-06],"object_linear_velocity_m_s":[-2.1216376394769328e-14,-4.869364475948927e-13,1.3723157970667796e-14],"object_angular_velocity_rad_s":[1.884405007823344e-11,-8.214255055658503e-13,7.3764500571393956e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221262885,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629904485,-1.610971831203226,1.3254580468086181,-1.3097463880250568,-1.57079510842377,-0.4491079361955716,0.0],"actuator_force":[2.472916094120592e-09,-18.988043942033528,-20.286344723944694,-2.4133256414813786,0.0006091856606644797,-3.9335645851679146e-11,-0.2933611120332705],"issued_joint_targets_rad":[-2.0199042629903983,-1.6014778092327953,1.3356012191795714,-1.3049197367458343,-1.5707963267944431,-0.44910793619552014],"issued_gripper_0_255":0.0,"command":{"t_seconds":14.999999999997126,"joint_targets_rad":[-2.0199042629903983,-1.6014778092327953,1.3356012191795714,-1.3049197367458343,-1.5707963267944431,-0.44910793619552014],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.019999999997115,"qpos":[-2.019904263008939,-1.6014778094757358,1.3356012198970988,-1.3049197374105248,-1.57079632678752,-0.4491079362026083,0.002933611173969083,0.00015630157379400221,0.0031934794549651254,-0.003429298941618821,0.0029336110717927905,0.00015630110072473286,0.003197849394386459,-0.003437996889804368,0.0812355078995632,0.47773560240691515,0.2998922445797833,0.9999999999994357,-3.663409161615823e-13,1.594945237350002e-14,1.0624102077412784e-06],"qvel":[9.070444534942271e-11,1.219373708477325e-09,-3.629847909585661e-09,3.347658725824427e-09,-3.141121943430546e-11,3.579985090456503e-11,9.304769938050534e-10,4.424188411932152e-09,-4.401747680817714e-09,-2.5301721445335983e-10,-8.595822844432286e-10,-2.8573088941677654e-09,2.7160232892454416e-09,2.4447347181362703e-10,-2.0091944447760056e-14,-4.61446308766054e-13,1.3465031117442447e-14,1.4587622018985306e-11,-6.354553798412337e-13,1.3467535018547064e-08],"joint_position_rad":[-2.019904263008939,-1.6014778094757358,1.3356012198970988,-1.3049197374105248,-1.57079632678752,-0.4491079362026083],"joint_velocity_rad_s":[9.070444534942271e-11,1.219373708477325e-09,-3.629847909585661e-09,3.347658725824427e-09,-3.141121943430546e-11,3.579985090456503e-11],"linkage_position_rad":[0.002933611173969083,0.00015630157379400221,0.0031934794549651254,-0.003429298941618821,0.0029336110717927905,0.00015630110072473286,0.003197849394386459,-0.003437996889804368],"tcp_position_m":[0.08125537449125589,0.4772357226157318,0.4349999998356675],"tcp_quaternion_wxyz":[-3.553420802954469e-11,0.70710678119059,0.7071067811825047,9.047463776758346e-11],"object_position_m":[0.0812355078995632,0.47773560240691515,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994357,-3.663409161615823e-13,1.594945237350002e-14,1.0624102077412784e-06],"object_linear_velocity_m_s":[-2.0091944447760056e-14,-4.61446308766054e-13,1.3465031117442447e-14],"object_angular_velocity_rad_s":[1.4587623369610528e-11,-6.354243738953013e-13,1.3467535018547064e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221322564,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629903983,-1.6109718312031984,1.3254580468080392,-1.3097463880242688,-1.57079510842382,-0.4491079361955199,0.0],"actuator_force":[7.999005902092904e-10,-18.98804394267472,-20.286344726180232,-2.4133256416379254,0.0006091849911626923,-3.581135388230905e-11,-0.29336111264256726],"issued_joint_targets_rad":[-2.0199042629903534,-1.6014778092324047,1.3356012191789208,-1.3049197367451797,-1.5707963267944858,-0.4491079361954737],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.019999999997115,"joint_targets_rad":[-2.0199042629903534,-1.6014778092324047,1.3356012191789208,-1.3049197367451797,-1.5707963267944858,-0.4491079361954737],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.039999999997104,"qpos":[-2.0199042630072404,-1.6014778094525535,1.3356012198281462,-1.3049197373469632,-1.5707963267881906,-0.44910793620192474,0.002933611171550415,0.00015630156209322339,0.0031934794666463205,-0.0034292989412557837,0.0029336110740865095,0.00015630110822320968,0.0031978493873601427,-0.003437996890362536,0.08123550789956274,0.477735602406904,0.2998922445797833,0.9999999999994356,-3.420033738437293e-13,1.4876606841664526e-14,1.0628839438790945e-06],"qvel":[8.312563225508801e-11,1.105018138618577e-09,-3.284188531683566e-09,3.032481751873947e-09,-2.4729395073137815e-11,3.258767814101324e-11,6.046573806352085e-10,3.5920070120242537e-09,-3.398251344124166e-09,-3.3580997129985056e-10,-4.3384221735490257e-10,-2.324077890316146e-09,2.2293443435471465e-09,1.7553553500110934e-10,-1.9549910025040398e-14,-4.494219603545164e-13,1.3441438878169165e-14,9.417831603962557e-12,-4.104713468317222e-13,2.4588317967284954e-08],"joint_position_rad":[-2.0199042630072404,-1.6014778094525535,1.3356012198281462,-1.3049197373469632,-1.5707963267881906,-0.44910793620192474],"joint_velocity_rad_s":[8.312563225508801e-11,1.105018138618577e-09,-3.284188531683566e-09,3.032481751873947e-09,-2.4729395073137815e-11,3.258767814101324e-11],"linkage_position_rad":[0.002933611171550415,0.00015630156209322339,0.0031934794666463205,-0.0034292989412557837,0.0029336110740865095,0.00015630110822320968,0.0031978493873601427,-0.003437996890362536],"tcp_position_m":[0.08125537449085268,0.4772357226163201,0.4349999998515023],"tcp_quaternion_wxyz":[-3.228230818103614e-11,0.7071067811902311,0.7071067811828634,8.218792641151436e-11],"object_position_m":[0.08123550789956274,0.477735602406904,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994356,-3.420033738437293e-13,1.4876606841664526e-14,1.0628839438790945e-06],"object_linear_velocity_m_s":[-1.9549910025040398e-14,-4.494219603545164e-13,1.3441438878169165e-14],"object_angular_velocity_rad_s":[9.417832477239658e-12,-4.104513098882229e-13,2.4588317967284977e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286349,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629903534,-1.6109718312031738,1.3254580468075154,-1.3097463880235547,-1.5707951084238647,-0.44910793619547346,0.0],"actuator_force":[5.238689482212067e-10,-18.988043943247703,-20.286344727585856,-2.4133256415439064,0.0006091846357776376,-3.311129148642067e-11,-0.293361113135922],"issued_joint_targets_rad":[-2.0199042629903126,-1.601477809232051,1.3356012191783322,-1.3049197367445877,-1.5707963267945246,-0.4491079361954314],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.039999999997104,"joint_targets_rad":[-2.0199042629903126,-1.601477809232051,1.3356012191783322,-1.3049197367445877,-1.5707963267945246,-0.4491079361954314],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.059999999997093,"qpos":[-2.019904263005695,-1.6014778094315452,1.3356012197657576,-1.3049197372894203,-1.570796326788809,-0.44910793620130257,0.002933611169545226,0.0001563015521323921,0.003193479476791307,-0.0034292989412801926,0.00293361107575433,0.00015630111451220063,0.003197849381057522,-0.003437996890507217,0.08123550789956237,0.47773560240689483,0.2998922445797833,0.9999999999994355,-2.978373633304645e-13,1.2940391440863531e-14,1.0632859459108937e-06],"qvel":[7.424503581069291e-11,1.001397954991659e-09,-2.972350577710896e-09,2.7447037639182243e-09,-2.2778497739197123e-11,2.966205717518251e-11,-2.456313099655901e-10,-7.918455815039699e-10,9.522445608410417e-10,-2.4936410248321344e-11,4.3322776408938073e-10,4.759976575553516e-10,-3.1829063174206016e-10,-1.3289974267820396e-10,-1.9507821899759733e-14,-4.491453276233806e-13,1.3725933528229358e-14,2.385884726547342e-12,-1.0519599599322937e-13,4.4892059284442854e-08],"joint_position_rad":[-2.019904263005695,-1.6014778094315452,1.3356012197657576,-1.3049197372894203,-1.570796326788809,-0.44910793620130257],"joint_velocity_rad_s":[7.424503581069291e-11,1.001397954991659e-09,-2.972350577710896e-09,2.7447037639182243e-09,-2.2778497739197123e-11,2.966205717518251e-11],"linkage_position_rad":[0.002933611169545226,0.0001563015521323921,0.003193479476791307,-0.0034292989412801926,0.00293361107575433,0.00015630111451220063,0.003197849381057522,-0.003437996890507217],"tcp_position_m":[0.0812553744904867,0.4772357226168524,0.43499999986581095],"tcp_quaternion_wxyz":[-2.932372210574018e-11,0.7071067811899047,0.7071067811831898,7.466131111805978e-11],"object_position_m":[0.08123550789956237,0.47773560240689483,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994355,-2.978373633304645e-13,1.2940391440863531e-14,1.0632859459108937e-06],"object_linear_velocity_m_s":[-1.9507821899759733e-14,-4.491453276233806e-13,1.3725933528229358e-14],"object_angular_velocity_rad_s":[2.3858849514106123e-12,-1.051908954965287e-13,4.4892059284442926e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221256488,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629903126,-1.610971831203152,1.3254580468070416,-1.3097463880229088,-1.5707951084239056,-0.44910793619543116,0.0],"actuator_force":[1.0663825378287584e-09,-18.988043943772936,-20.286344728491713,-2.4133256412146693,0.0006091847295692787,-3.04964942188235e-11,-0.29336111320296004],"issued_joint_targets_rad":[-2.0199042629902757,-1.6014778092317308,1.3356012191777988,-1.3049197367440513,-1.5707963267945597,-0.44910793619539313],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.059999999997093,"joint_targets_rad":[-2.0199042629902757,-1.6014778092317308,1.3356012191777988,-1.3049197367440513,-1.5707963267945597,-0.44910793619539313],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.079999999997082,"qpos":[-2.0199042630042823,-1.601477809412507,1.3356012197093097,-1.3049197372373185,-1.5707963267893637,-0.4491079362007363,0.002933611171425007,0.00015630155900933285,0.003193479468988125,-0.0034292989405120496,0.002933611073698798,0.0001563011102957301,0.003197849385233972,-0.0034379968905295915,0.08123550789956203,0.47773560240688706,0.2998922445797833,0.9999999999994353,-2.4894469413238295e-13,1.0800515069481705e-14,1.0636398051101814e-06],"qvel":[6.075919013014311e-11,9.075552376359589e-10,-2.691303836905271e-09,2.469192311793899e-09,-5.525997173398212e-11,2.6958330245800036e-11,-2.5188697166474978e-09,-1.446279036591983e-08,1.3557654263960332e-08,1.2494942367664187e-09,1.7273649616785e-09,9.355857151628786e-09,-8.963132992929234e-09,-6.684928577906356e-10,-2.105192310937086e-14,-4.860571506611382e-13,1.3875813636553756e-14,-6.518818087885421e-12,2.7892806395189337e-13,8.196156359772111e-08],"joint_position_rad":[-2.0199042630042823,-1.601477809412507,1.3356012197093097,-1.3049197372373185,-1.5707963267893637,-0.4491079362007363],"joint_velocity_rad_s":[6.075919013014311e-11,9.075552376359589e-10,-2.691303836905271e-09,2.469192311793899e-09,-5.525997173398212e-11,2.6958330245800036e-11],"linkage_position_rad":[0.002933611171425007,0.00015630155900933285,0.003193479468988125,-0.0034292989405120496,0.002933611073698798,0.0001563011102957301,0.003197849385233972,-0.0034379968905295915],"tcp_position_m":[0.08125537449014723,0.4772357226173343,0.4349999998787395],"tcp_quaternion_wxyz":[-2.663767911727295e-11,0.7071067811896052,0.707106781183489,6.781846493509517e-11],"object_position_m":[0.08123550789956203,0.47773560240688706,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994353,-2.4894469413238295e-13,1.0800515069481705e-14,1.0636398051101814e-06],"object_linear_velocity_m_s":[-2.105192310937086e-14,-4.860571506611382e-13,1.3875813636553756e-14],"object_angular_velocity_rad_s":[-6.5188186794582575e-12,2.7891423741025635e-13,8.196156359772127e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282611,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629902757,-1.6109718312031327,1.325458046806612,-1.3097463880223237,-1.5707951084239429,-0.44910793619539296,0.0],"actuator_force":[3.709374141180888e-09,-18.988043944273613,-20.2863447288737,-2.413325639421828,0.0006091882363534751,-2.4158453015843406e-11,-0.2933611082986665],"issued_joint_targets_rad":[-2.019904262990242,-1.6014778092314412,1.3356012191773168,-1.304919736743566,-1.570796326794591,-0.44910793619535794],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.079999999997082,"joint_targets_rad":[-2.019904262990242,-1.6014778092314412,1.3356012191773168,-1.304919736743566,-1.570796326794591,-0.44910793619535794],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.09999999999707,"qpos":[-2.0199042630029913,-1.601477809395254,1.3356012196582356,-1.3049197371901347,-1.5707963267898375,-0.44910793620022094,0.0029336111723315553,0.00015630156610929504,0.0031934794628996036,-0.003429298941747533,0.002933611073565227,0.00015630110563653665,0.0031978493898022027,-0.0034379968901671054,0.08123550789956176,0.4777356024068804,0.2998922445797833,0.9999999999994342,-2.0035801371815298e-13,8.680808635838907e-15,1.0639507048441389e-06],"qvel":[6.330441706567628e-11,8.22390496839195e-10,-2.4324718268503705e-09,2.2506815306819946e-09,-1.856912427492684e-11,2.4564324828007918e-11,8.303157990754023e-10,4.4252147096274754e-09,-4.281050443635795e-09,-3.5483197161580617e-10,-7.081423167030358e-10,-2.855078066983014e-09,2.695360044610657e-09,2.5244615072423013e-10,-1.0828225745140802e-14,-2.498757574499175e-13,1.334984547863759e-14,9.177681892785939e-12,-3.9817830876961866e-13,8.879864218747157e-09],"joint_position_rad":[-2.0199042630029913,-1.601477809395254,1.3356012196582356,-1.3049197371901347,-1.5707963267898375,-0.44910793620022094],"joint_velocity_rad_s":[6.330441706567628e-11,8.22390496839195e-10,-2.4324718268503705e-09,2.2506815306819946e-09,-1.856912427492684e-11,2.4564324828007918e-11],"linkage_position_rad":[0.0029336111723315553,0.00015630156610929504,0.0031934794628996036,-0.003429298941747533,0.002933611073565227,0.00015630110563653665,0.0031978493898022027,-0.0034379968901671054],"tcp_position_m":[0.08125537448982581,0.47723572261777153,0.4349999998904201],"tcp_quaternion_wxyz":[-2.420933878824998e-11,0.7071067811893311,0.7071067811837634,6.158960133174137e-11],"object_position_m":[0.08123550789956176,0.4777356024068804,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994342,-2.0035801371815298e-13,8.680808635838907e-15,1.0639507048441389e-06],"object_linear_velocity_m_s":[-1.0828225745140802e-14,-2.498757574499175e-13,1.334984547863759e-14],"object_angular_velocity_rad_s":[9.177682740203515e-12,-3.98158776008176e-13,8.87986421874716e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221297733,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990242,-1.610971831203116,1.3254580468062236,-1.3097463880217939,-1.5707951084239755,-0.44910793619535777,0.0],"actuator_force":[1.7689671949483454e-10,-18.988043944680612,-20.286344731035115,-2.4133256408977104,0.0006091847878906265,-2.4840574042173102e-11,-0.29336111290570654],"issued_joint_targets_rad":[-2.0199042629902118,-1.6014778092311788,1.3356012191768796,-1.3049197367431262,-1.57079632679462,-0.44910793619532646],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.09999999999707,"joint_targets_rad":[-2.0199042629902118,-1.6014778092311788,1.3356012191768796,-1.3049197367431262,-1.57079632679462,-0.44910793619532646],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.11999999999706,"qpos":[-2.019904263001825,-1.6014778093796194,1.335601219612021,-1.3049197371474335,-1.5707963267903051,-0.449107936199752,0.0029336111697663664,0.00015630155384005815,0.00319347947544934,-0.0034292989416684033,0.0029336110758768513,0.00015630111340512597,0.0031978493821938456,-0.0034379968904962857,0.08123550789956148,0.4777356024068741,0.2998922445797833,0.9999999999994341,-1.847669485551671e-13,7.988059784832137e-15,1.0643989956196236e-06],"qvel":[5.747849255554929e-11,7.452334823968006e-10,-2.2011675710045686e-09,2.0388294795711083e-09,-1.349938386649872e-11,2.2360779147629064e-11,2.903839595445864e-10,2.177568015486875e-09,-1.9441016450384334e-09,-2.6291231024735924e-10,-6.80537495107797e-11,-1.4193596360377933e-09,1.4275344874443331e-09,5.717098354626848e-11,-1.0194190003612884e-14,-2.357438753106459e-13,1.3492786693058077e-14,6.6783801311180275e-12,-2.8971850840429416e-13,1.6212389618498142e-08],"joint_position_rad":[-2.019904263001825,-1.6014778093796194,1.335601219612021,-1.3049197371474335,-1.5707963267903051,-0.449107936199752],"joint_velocity_rad_s":[5.747849255554929e-11,7.452334823968006e-10,-2.2011675710045686e-09,2.0388294795711083e-09,-1.349938386649872e-11,2.2360779147629064e-11],"linkage_position_rad":[0.0029336111697663664,0.00015630155384005815,0.00319347947544934,-0.0034292989416684033,0.0029336110758768513,0.00015630111340512597,0.0031978493821938456,-0.0034379968904962857],"tcp_position_m":[0.08125537448954678,0.47723572261816666,0.43499999990097793],"tcp_quaternion_wxyz":[-2.198864571338065e-11,0.7071067811890845,0.7071067811840095,5.594536584600994e-11],"object_position_m":[0.08123550789956148,0.4777356024068741,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994341,-1.847669485551671e-13,7.988059784832137e-15,1.0643989956196236e-06],"object_linear_velocity_m_s":[-1.0194190003612884e-14,-2.357438753106459e-13,1.3492786693058077e-14],"object_angular_velocity_rad_s":[6.678380748114085e-12,-2.897042854904024e-13,1.621238961849816e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221259438,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629902118,-1.610971831203101,1.3254580468058714,-1.3097463880213136,-1.5707951084240057,-0.4491079361953263,0.0],"actuator_force":[2.3510438040830195e-10,-18.988043945056233,-20.286344731832287,-2.4133256408229045,0.000609184499580806,-2.3248958314070478e-11,-0.29336111339381193],"issued_joint_targets_rad":[-2.019904262990184,-1.6014778092309414,1.3356012191764843,-1.304919736742729,-1.570796326794646,-0.4491079361952985],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.11999999999706,"joint_targets_rad":[-2.019904262990184,-1.6014778092309414,1.3356012191764843,-1.304919736742729,-1.570796326794646,-0.4491079361952985],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.139999999997048,"qpos":[-2.0199042630007624,-1.6014778093654516,1.3356012195702067,-1.3049197371087755,-1.5707963267907366,-0.44910793619932526,0.002933611170156403,0.0001563015521330511,0.0031934794758395795,-0.00342929894020413,0.0029336110750314516,0.00015630111468356198,0.00319784938124066,-0.0034379968909853146,0.0812355078995612,0.47773560240686874,0.2998922445797833,0.999999999999434,-1.696927182174003e-13,7.353765471771558e-15,1.0648442873385616e-06],"qvel":[4.862376141439495e-11,6.753662612430852e-10,-1.9931766277128543e-09,1.8402371029786072e-09,-2.3016609953558642e-11,2.0338388324355058e-11,-1.2064749453491673e-09,-6.446605050761069e-09,6.2988423992990026e-09,4.198526822695788e-10,1.1624342289705379e-09,4.1102952288252995e-09,-3.724592168113729e-09,-4.102034976093917e-10,-1.0008057663931867e-14,-2.3079646741012217e-13,1.3775893564337489e-14,3.684677884814919e-12,-1.5823666917375776e-13,2.9599729305131096e-08],"joint_position_rad":[-2.0199042630007624,-1.6014778093654516,1.3356012195702067,-1.3049197371087755,-1.5707963267907366,-0.44910793619932526],"joint_velocity_rad_s":[4.862376141439495e-11,6.753662612430852e-10,-1.9931766277128543e-09,1.8402371029786072e-09,-2.3016609953558642e-11,2.0338388324355058e-11],"linkage_position_rad":[0.002933611170156403,0.0001563015521330511,0.0031934794758395795,-0.00342929894020413,0.0029336110750314516,0.00015630111468356198,0.00319784938124066,-0.0034379968909853146],"tcp_position_m":[0.0812553744892929,0.4772357226185243,0.4349999999105181],"tcp_quaternion_wxyz":[-1.996821720998186e-11,0.7071067811888598,0.7071067811842349,5.081915464867041e-11],"object_position_m":[0.0812355078995612,0.47773560240686874,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999434,-1.696927182174003e-13,7.353765471771558e-15,1.0648442873385616e-06],"object_linear_velocity_m_s":[-1.0008057663931867e-14,-2.3079646741012217e-13,1.3775893564337489e-14],"object_angular_velocity_rad_s":[3.6846782222367254e-12,-1.5822881191128905e-13,2.9599729305131155e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221260478,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990184,-1.6109718312030878,1.325458046805553,-1.3097463880208797,-1.5707951084240335,-0.4491079361952984,0.0],"actuator_force":[1.7071215552277863e-09,-18.988043945418667,-20.28634473203647,-2.4133256400758683,0.0006091856532748352,-2.0378365661599673e-11,-0.29336111203918913],"issued_joint_targets_rad":[-2.019904262990159,-1.601477809230727,1.3356012191761266,-1.304919736742369,-1.5707963267946699,-0.4491079361952721],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.139999999997048,"joint_targets_rad":[-2.019904262990159,-1.601477809230727,1.3356012191761266,-1.304919736742369,-1.5707963267946699,-0.4491079361952721],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.159999999997037,"qpos":[-2.0199042629997823,-1.6014778093526125,1.335601219532376,-1.3049197370737535,-1.5707963267910807,-0.44910793619893685,0.0029336111732485063,0.00015630157049435634,0.0031934794587049316,-0.0034292989421899883,0.0029336110728282287,0.00015630110280910806,0.003197849392456631,-0.0034379968899115446,0.08123550789956092,0.4777356024068641,0.2998922445797833,0.9999999999994327,-1.5170056060453362e-13,6.5869128477317416e-15,1.0652663906438802e-06],"qvel":[4.806949439245865e-11,6.120128328767385e-10,-1.8017061599783738e-09,1.6701990026317673e-09,-1.4407411317368683e-11,1.8509351648845332e-11,9.776110885364784e-10,4.76292850972933e-09,-4.685044796623931e-09,-3.223131368092363e-10,-9.001055434515084e-10,-3.0707287363170238e-09,2.8839189394978724e-09,2.886369239578996e-10,-1.0409462898547961e-14,-2.3967504094625694e-13,1.3749525767502641e-14,-9.633318359207286e-14,5.385393727843368e-15,5.404163084746843e-08],"joint_position_rad":[-2.0199042629997823,-1.6014778093526125,1.335601219532376,-1.3049197370737535,-1.5707963267910807,-0.44910793619893685],"joint_velocity_rad_s":[4.806949439245865e-11,6.120128328767385e-10,-1.8017061599783738e-09,1.6701990026317673e-09,-1.4407411317368683e-11,1.8509351648845332e-11],"linkage_position_rad":[0.0029336111732485063,0.00015630157049435634,0.0031934794587049316,-0.0034292989421899883,0.0029336110728282287,0.00015630110280910806,0.003197849392456631,-0.0034379968899115446],"tcp_position_m":[0.08125537448904091,0.4772357226188487,0.43499999991913474],"tcp_quaternion_wxyz":[-1.815076278918728e-11,0.7071067811886507,0.707106781184444,4.614170598551781e-11],"object_position_m":[0.08123550789956092,0.4777356024068641,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994327,-1.5170056060453362e-13,6.5869128477317416e-15,1.0652663906438802e-06],"object_linear_velocity_m_s":[-1.0409462898547961e-14,-2.3967504094625694e-13,1.3749525767502641e-14],"object_angular_velocity_rad_s":[-9.633319435369456e-14,5.385204883117727e-15,5.4041630847468444e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221310595,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990159,-1.610971831203077,1.3254580468052646,-1.3097463880204865,-1.5707951084240586,-0.449107936195272,0.0],"actuator_force":[1.9099388737231493e-11,-18.988043945734262,-20.286344733540773,-2.413325640386347,0.0006091849518270465,-1.8530954548623413e-11,-0.2933611126913645],"issued_joint_targets_rad":[-2.0199042629901367,-1.6014778092305324,1.3356012191758022,-1.3049197367420426,-1.570796326794691,-0.44910793619524864],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.159999999997037,"joint_targets_rad":[-2.0199042629901367,-1.6014778092305324,1.3356012191758022,-1.3049197367420426,-1.570796326794691,-0.44910793619524864],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.179999999997026,"qpos":[-2.0199042629989017,-1.6014778093409778,1.3356012194981417,-1.304919737042066,-1.5707963267914324,-0.44910793619858347,0.002933611170335741,0.00015630155728382813,0.003193479472328086,-0.003429298942152269,0.0029336110755842346,0.00015630111119372658,0.0031978493842984837,-0.003437996890335285,0.08123550789956072,0.47773560240686025,0.2998922445797833,0.9999999999994326,-1.2097520388136942e-13,5.259427104218256e-15,1.0655696490070356e-06],"qvel":[4.4323443131344945e-11,5.545725951788153e-10,-1.6300854095775228e-09,1.5139176495808888e-09,-8.904617542998975e-12,1.6849511848354256e-11,6.547174349371356e-10,3.9123758380989e-09,-3.692764646029151e-09,-3.693586957157117e-10,-4.685661146100904e-10,-2.5214745352177644e-09,2.4133048236230477e-09,1.9286133497362384e-10,-1.174018767860949e-14,-2.694874572838004e-13,1.3362335487664622e-14,-5.096366524717498e-12,2.2391215090586148e-13,9.866637071614322e-08],"joint_position_rad":[-2.0199042629989017,-1.6014778093409778,1.3356012194981417,-1.304919737042066,-1.5707963267914324,-0.44910793619858347],"joint_velocity_rad_s":[4.4323443131344945e-11,5.545725951788153e-10,-1.6300854095775228e-09,1.5139176495808888e-09,-8.904617542998975e-12,1.6849511848354256e-11],"linkage_position_rad":[0.002933611170335741,0.00015630155728382813,0.003193479472328086,-0.003429298942152269,0.0029336110755842346,0.00015630111119372658,0.0031978493842984837,-0.003437996890335285],"tcp_position_m":[0.08125537448882746,0.4772357226191425,0.4349999999269256],"tcp_quaternion_wxyz":[-1.6485367285220235e-11,0.7071067811884643,0.7071067811846304,4.191047360637389e-11],"object_position_m":[0.08123550789956072,0.47773560240686025,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994326,-1.2097520388136942e-13,5.259427104218256e-15,1.0655696490070356e-06],"object_linear_velocity_m_s":[-1.174018767860949e-14,-2.694874572838004e-13,1.3362335487664622e-14],"object_angular_velocity_rad_s":[-5.0963670008560805e-12,2.2390131371074496e-13,9.866637071614329e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221268638,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629901367,-1.6109718312030668,1.3254580468050032,-1.3097463880201297,-1.5707951084240805,-0.4491079361952485,0.0],"actuator_force":[-1.9917933968827128e-10,-18.98804394600711,-20.286344734242903,-2.4133256404236363,0.0006091845664286666,-1.7479351299698465e-11,-0.29336111322675534],"issued_joint_targets_rad":[-2.0199042629901163,-1.6014778092303563,1.3356012191755096,-1.3049197367417478,-1.5707963267947103,-0.44910793619522776],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.179999999997026,"joint_targets_rad":[-2.0199042629901163,-1.6014778092303563,1.3356012191755096,-1.3049197367417478,-1.5707963267947103,-0.44910793619522776],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.199999999997015,"qpos":[-2.019904262998102,-1.6014778093304345,1.3356012194671667,-1.304919737013382,-1.5707963267917628,-0.44910793619826206,0.0029336111697103547,0.00015630155039752096,0.0031934794778302376,-0.003429298940369026,0.0029336110757582166,0.00015630111578308878,0.003197849380359918,-0.0034379968911608665,0.08123550789956055,0.4777356024068567,0.2998922445797833,0.9999999999994326,-1.0352142355133558e-13,4.508054167834138e-15,1.065943914053477e-06],"qvel":[3.8822813684626274e-11,5.025335380013203e-10,-1.4757649881316198e-09,1.3698227601094954e-09,-8.36793342306392e-12,1.5334714359125026e-11,-3.60183717734811e-10,-1.2659926781968451e-09,1.43900730812288e-09,-6.62449923055525e-11,5.62336039562371e-10,7.721102516395294e-10,-5.605807454082962e-10,-1.5049775310449042e-10,-5.6421910143919335e-15,-1.2960451077191906e-13,1.3635727907478564e-14,4.479946439530209e-12,-1.9460700317614028e-13,1.0689693271697686e-08],"joint_position_rad":[-2.019904262998102,-1.6014778093304345,1.3356012194671667,-1.304919737013382,-1.5707963267917628,-0.44910793619826206],"joint_velocity_rad_s":[3.8822813684626274e-11,5.025335380013203e-10,-1.4757649881316198e-09,1.3698227601094954e-09,-8.36793342306392e-12,1.5334714359125026e-11],"linkage_position_rad":[0.0029336111697103547,0.00015630155039752096,0.0031934794778302376,-0.003429298940369026,0.0029336110757582166,0.00015630111578308878,0.003197849380359918,-0.0034379968911608665],"tcp_position_m":[0.08125537448863616,0.4772357226194081,0.43499999993396543],"tcp_quaternion_wxyz":[-1.49678261150595e-11,0.7071067811882951,0.7071067811847996,3.806977581125707e-11],"object_position_m":[0.08123550789956055,0.4777356024068567,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994326,-1.0352142355133558e-13,4.508054167834138e-15,1.065943914053477e-06],"object_linear_velocity_m_s":[-5.6421910143919335e-15,-1.2960451077191906e-13,1.3635727907478564e-14],"object_angular_velocity_rad_s":[4.479946854496713e-12,-1.945974502191887e-13,1.0689693271697701e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322125288,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629901163,-1.6109718312030579,1.3254580468047674,-1.3097463880198073,-1.570795108424101,-0.44910793619522765,0.0],"actuator_force":[4.420144250616431e-10,-18.988043946260404,-20.286344734492104,-2.4133256401948984,0.000609184667723639,-1.6257217794191092e-11,-0.2933611132841901],"issued_joint_targets_rad":[-2.019904262990098,-1.6014778092301971,1.3356012191752438,-1.3049197367414809,-1.570796326794728,-0.4491079361952085],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.199999999997015,"joint_targets_rad":[-2.019904262990098,-1.6014778092301971,1.3356012191752438,-1.3049197367414809,-1.570796326794728,-0.4491079361952085],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.219999999997004,"qpos":[-2.019904262997368,-1.6014778093208806,1.3356012194391418,-1.3049197369874062,-1.570796326792052,-0.4491079361979694,0.002933611170415462,0.00015630155437746315,0.0031934794739676533,-0.003429298940979573,0.002933611074870943,0.00015630111321419694,0.003197849382452524,-0.00343799689062454,0.08123550789956042,0.4777356024068535,0.2998922445797833,0.9999999999994313,-9.771001431644109e-14,4.270639200681616e-15,1.0664228662017326e-06],"qvel":[2.7859170282401142e-11,4.5545784351235306e-10,-1.3373915069081798e-09,1.2230440324759417e-09,-4.5115216346460625e-11,1.391395373172169e-11,-2.7671518990696444e-09,-1.579277743750631e-08,1.4839145783512846e-08,1.312962682847477e-09,1.9009412463118004e-09,1.0173783004411468e-08,-9.767467914932201e-09,-7.004623429635111e-10,-5.4780289400852386e-15,-1.2540982855813585e-13,1.3739811316037172e-14,3.1916914036065698e-12,-1.386615847567848e-13,1.9516680430636228e-08],"joint_position_rad":[-2.019904262997368,-1.6014778093208806,1.3356012194391418,-1.3049197369874062,-1.570796326792052,-0.4491079361979694],"joint_velocity_rad_s":[2.7859170282401142e-11,4.5545784351235306e-10,-1.3373915069081798e-09,1.2230440324759417e-09,-4.5115216346460625e-11,1.391395373172169e-11],"linkage_position_rad":[0.002933611170415462,0.00015630155437746315,0.0031934794739676533,-0.003429298940979573,0.002933611074870943,0.00015630111321419694,0.003197849382452524,-0.00343799689062454],"tcp_position_m":[0.0812553744884551,0.47723572261964836,0.4349999999403258],"tcp_quaternion_wxyz":[-1.3593194398474064e-11,0.7071067811881391,0.7071067811849556,3.457524660838647e-11],"object_position_m":[0.08123550789956042,0.4777356024068535,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994313,-9.771001431644109e-14,4.270639200681616e-15,1.0664228662017326e-06],"object_linear_velocity_m_s":[-5.4780289400852386e-15,-1.2540982855813585e-13,1.3739811316037172e-14],"object_angular_velocity_rad_s":[3.1916916995097726e-12,-1.3865477355712963e-13,1.9516680430636228e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322126717,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990098,-1.6109718312030505,1.325458046804553,-1.3097463880195155,-1.57079510842412,-0.4491079361952084,0.0],"actuator_force":[3.396053216420114e-09,-18.988043946522794,-20.286344734221075,-2.4133256383590833,0.0006091884774832579,-1.0857093002414331e-11,-0.29336110793326703],"issued_joint_targets_rad":[-2.019904262990081,-1.6014778092300526,1.3356012191750035,-1.304919736741239,-1.570796326794744,-0.44910793619519107],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.219999999997004,"joint_targets_rad":[-2.019904262990081,-1.6014778092300526,1.3356012191750035,-1.304919736741239,-1.570796326794744,-0.44910793619519107],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.239999999996993,"qpos":[-2.0199042629966946,-1.6014778093122228,1.3356012194137854,-1.3049197369638748,-1.5707963267922824,-0.4491079361977031,0.0029336111711452816,0.0001563015616831489,0.0031934794681946206,-0.003429298942637527,0.0029336110749755007,0.0001563011083896147,0.003197849386917469,-0.0034379968900706674,0.08123550789956037,0.4777356024068508,0.2998922445797833,0.9999999999994312,-8.654412746261843e-14,3.781254347702459e-15,1.0668384267743234e-06],"qvel":[3.401127035438806e-11,4.126690009495799e-10,-1.2072183750032663e-09,1.1237801774640834e-09,-6.614905912787146e-12,1.2690837777036065e-11,9.011036273012707e-10,4.820692445806921e-09,-4.656377917720831e-09,-3.89579820172952e-10,-7.679520436502939e-10,-3.0996362530398907e-09,2.9212278194734293e-09,2.7650490963353643e-10,-5.36743795163298e-15,-1.2289679198550663e-13,1.3309599893994924e-14,1.4103591464403875e-12,-6.19649558519722e-14,3.56325298907708e-08],"joint_position_rad":[-2.0199042629966946,-1.6014778093122228,1.3356012194137854,-1.3049197369638748,-1.5707963267922824,-0.4491079361977031],"joint_velocity_rad_s":[3.401127035438806e-11,4.126690009495799e-10,-1.2072183750032663e-09,1.1237801774640834e-09,-6.614905912787146e-12,1.2690837777036065e-11],"linkage_position_rad":[0.0029336111711452816,0.0001563015616831489,0.0031934794681946206,-0.003429298942637527,0.0029336110749755007,0.0001563011083896147,0.003197849386917469,-0.0034379968900706674],"tcp_position_m":[0.08125537448827802,0.47723572261986663,0.4349999999460712],"tcp_quaternion_wxyz":[-1.2357093850506723e-11,0.7071067811879953,0.7071067811850994,3.1388275145564886e-11],"object_position_m":[0.08123550789956037,0.4777356024068508,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994312,-8.654412746261843e-14,3.781254347702459e-15,1.0668384267743234e-06],"object_linear_velocity_m_s":[-5.36743795163298e-15,-1.2289679198550663e-13,1.3309599893994924e-14],"object_angular_velocity_rad_s":[1.410359278919835e-12,-6.196194043359252e-14,3.563252989077083e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281419,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990081,-1.6109718312030434,1.3254580468043593,-1.3097463880192508,-1.5707951084241365,-0.44910793619519096,0.0],"actuator_force":[-3.778950485866517e-10,-18.98804394670833,-20.286344735964576,-2.4133256400659775,0.0006091847344578127,-1.3017142919125035e-11,-0.293361112971797],"issued_joint_targets_rad":[-2.019904262990066,-1.6014778092299218,1.3356012191747855,-1.3049197367410201,-1.5707963267947584,-0.4491079361951757],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.239999999996993,"joint_targets_rad":[-2.019904262990066,-1.6014778092299218,1.3356012191747855,-1.3049197367410201,-1.5707963267947584,-0.4491079361951757],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.259999999996982,"qpos":[-2.019904262996091,-1.6014778093043778,1.3356012193908393,-1.3049197369425902,-1.5707963267925333,-0.449107936197461,0.002933611169818108,0.00015630155188465006,0.003193479476725062,-0.0034292989407815402,0.0029336110759479363,0.00015630111481697385,0.0031978493813479883,-0.003437996891116805,0.08123550789956034,0.47773560240684837,0.2998922445797833,0.9999999999994311,-7.445962163593328e-14,3.2542608700053717e-15,1.0672203538520249e-06],"qvel":[3.080008675012805e-11,3.739161927859378e-10,-1.0925656137383253e-09,1.0186824203192486e-09,-2.3520466970640734e-12,1.1551705608264262e-11,2.0626025657682493e-10,1.9602263378318262e-09,-1.6766460746346825e-09,-3.3417188723132277e-10,3.324606174874934e-11,-1.2909254768708106e-09,1.3119621366623778e-09,6.084213870282016e-11,-5.6445506666386515e-15,-1.2895235971351422e-13,1.3451153329634632e-14,-8.248064205024744e-13,3.654787012223801e-14,6.505600124580883e-08],"joint_position_rad":[-2.019904262996091,-1.6014778093043778,1.3356012193908393,-1.3049197369425902,-1.5707963267925333,-0.449107936197461],"joint_velocity_rad_s":[3.080008675012805e-11,3.739161927859378e-10,-1.0925656137383253e-09,1.0186824203192486e-09,-2.3520466970640734e-12,1.1551705608264262e-11],"linkage_position_rad":[0.002933611169818108,0.00015630155188465006,0.003193479476725062,-0.0034292989407815402,0.0029336110759479363,0.00015630111481697385,0.0031978493813479883,-0.003437996891116805],"tcp_position_m":[0.0812553744881329,0.47723572262006375,0.4349999999512668],"tcp_quaternion_wxyz":[-1.1218115843156104e-11,0.7071067811878676,0.7071067811852271,2.8510966008996496e-11],"object_position_m":[0.08123550789956034,0.47773560240684837,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994311,-7.445962163593328e-14,3.2542608700053717e-15,1.0672203538520249e-06],"object_linear_velocity_m_s":[-5.6445506666386515e-15,-1.2895235971351422e-13,1.3451153329634632e-14],"object_angular_velocity_rad_s":[-8.248064980864503e-13,3.654611930984583e-14,6.50560012458089e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221255101,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990066,-1.6109718312030372,1.3254580468041832,-1.3097463880190112,-1.5707951084241516,-0.44910793619517564,0.0],"actuator_force":[-2.701199264265597e-10,-18.988043946885227,-20.286344736286082,-2.413325640078824,0.0006091844261391088,-1.2505552149377763e-11,-0.2933611134858338],"issued_joint_targets_rad":[-2.019904262990052,-1.6014778092298039,1.3356012191745894,-1.304919736740823,-1.570796326794771,-0.44910793619516143],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.259999999996982,"joint_targets_rad":[-2.019904262990052,-1.6014778092298039,1.3356012191745894,-1.304919736740823,-1.570796326794771,-0.44910793619516143],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.27999999999697,"qpos":[-2.01990426299554,-1.601477809297269,1.3356012193700781,-1.3049197369233203,-1.5707963267927652,-0.44910793619724065,0.00293361116898152,0.00015630154686050338,0.0031934794814558088,-0.0034292989406500603,0.00293361107630754,0.00015630111799507944,0.003197849378074155,-0.0034379968910594424,0.08123550789956034,0.4777356024068465,0.2998922445797833,0.999999999999431,-5.953385009974104e-14,2.6059307180576347e-15,1.0675229905333844e-06],"qvel":[2.398574282699613e-11,3.388612123066061e-10,-9.902545667272554e-10,9.161538106519632e-10,-1.3741791473939803e-11,1.0502167880444266e-11,-1.3361378682574987e-09,-7.061112645389556e-09,6.9373951173564915e-09,4.135295441584911e-10,1.2883865702442314e-09,4.479677153092281e-09,-4.0774474348576626e-09,-4.23839960891117e-10,-6.611393860643205e-15,-1.4963375031542908e-13,1.3771730227995145e-14,-3.6832712407345474e-12,1.6670223947815136e-13,1.187758295883836e-07],"joint_position_rad":[-2.01990426299554,-1.601477809297269,1.3356012193700781,-1.3049197369233203,-1.5707963267927652,-0.44910793619724065],"joint_velocity_rad_s":[2.398574282699613e-11,3.388612123066061e-10,-9.902545667272554e-10,9.161538106519632e-10,-1.3741791473939803e-11,1.0502167880444266e-11],"linkage_position_rad":[0.00293361116898152,0.00015630154686050338,0.0031934794814558088,-0.0034292989406500603,0.00293361107630754,0.00015630111799507944,0.003197849378074155,-0.0034379968910594424],"tcp_position_m":[0.08125537448799985,0.47723572262024205,0.4349999999559615],"tcp_quaternion_wxyz":[-1.0182103319313275e-11,0.7071067811877504,0.7071067811853439,2.5898036564123202e-11],"object_position_m":[0.08123550789956034,0.4777356024068465,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999431,-5.953385009974104e-14,2.6059307180576347e-15,1.0675229905333844e-06],"object_linear_velocity_m_s":[-6.611393860643205e-15,-1.4963375031542908e-13,1.3771730227995145e-14],"object_angular_velocity_rad_s":[-3.683271596024077e-12,1.666943896666775e-13,1.1877582958838378e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221242886,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990052,-1.6109718312030323,1.3254580468040253,-1.3097463880187954,-1.5707951084241651,-0.4491079361951614,0.0],"actuator_force":[1.3819771993439645e-09,-18.988043947070764,-20.286344736003684,-2.4133256393529336,0.0006091856740795265,-1.057287590811029e-11,-0.2933611120256965],"issued_joint_targets_rad":[-2.01990426299004,-1.6014778092296966,1.335601219174411,-1.304919736740643,-1.570796326794783,-0.44910793619514844],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.27999999999697,"joint_targets_rad":[-2.01990426299004,-1.6014778092296966,1.335601219174411,-1.304919736740643,-1.570796326794783,-0.44910793619514844],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.29999999999696,"qpos":[-2.0199042629950266,-1.6014778092908273,1.3356012193512972,-1.3049197369058507,-1.5707963267929241,-0.44910793619704015,0.0029336111721118985,0.0001563015664627024,0.0031934794636128013,-0.003429298943087408,0.0029336110741448873,0.00015630110531667193,0.0031978493897848446,-0.0034379968897592676,0.08123550789956034,0.47773560240684465,0.2998922445797833,0.9999999999994298,-5.4707422730528786e-14,2.4136194220618277e-15,1.0679735355473976e-06],"qvel":[2.5941907591869224e-11,3.070639060433672e-10,-8.94105419826225e-10,8.33934135487711e-10,-5.415417304478327e-12,9.554953522604723e-12,1.062064249543355e-09,5.189779385160723e-09,-5.099963894791076e-09,-3.5415155252607863e-10,-9.775686980392512e-10,-3.33430365415701e-09,3.1261479741738296e-09,3.157923219480071e-10,-3.013782270325371e-15,-6.839156834137378e-14,1.3362335487664615e-14,2.216368146126169e-12,-9.683758209261915e-14,1.2868388460749378e-08],"joint_position_rad":[-2.0199042629950266,-1.6014778092908273,1.3356012193512972,-1.3049197369058507,-1.5707963267929241,-0.44910793619704015],"joint_velocity_rad_s":[2.5941907591869224e-11,3.070639060433672e-10,-8.94105419826225e-10,8.33934135487711e-10,-5.415417304478327e-12,9.554953522604723e-12],"linkage_position_rad":[0.0029336111721118985,0.0001563015664627024,0.0031934794636128013,-0.003429298943087408,0.0029336110741448873,0.00015630110531667193,0.0031978493897848446,-0.0034379968897592676],"tcp_position_m":[0.08125537448785794,0.47723572262040415,0.43499999996019934],"tcp_quaternion_wxyz":[-9.260618832154351e-12,0.7071067811876398,0.7071067811854549,2.3502803277594326e-11],"object_position_m":[0.08123550789956034,0.47773560240684465,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994298,-5.4707422730528786e-14,2.4136194220618277e-15,1.0679735355473976e-06],"object_linear_velocity_m_s":[-3.013782270325371e-15,-6.839156834137378e-14,1.3362335487664615e-14],"object_angular_velocity_rad_s":[2.2163683530231804e-12,-9.683284663935529e-14,1.2868388460749381e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295491,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426299004,-1.6109718312030277,1.3254580468038815,-1.3097463880185984,-1.5707951084241778,-0.4491079361951484,0.0],"actuator_force":[-4.0336090023629367e-10,-18.988043947226288,-20.286344737189665,-2.413325639767322,0.0006091849146514505,-9.634959496906959e-12,-0.29336111273531706],"issued_joint_targets_rad":[-2.019904262990029,-1.6014778092295998,1.3356012191742492,-1.3049197367404803,-1.5707963267947938,-0.44910793619513645],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.29999999999696,"joint_targets_rad":[-2.019904262990029,-1.6014778092295998,1.3356012191742492,-1.3049197367404803,-1.5707963267947938,-0.44910793619513645],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.319999999996949,"qpos":[-2.0199042629945723,-1.6014778092849897,1.3356012193342988,-1.3049197368900565,-1.5707963267931135,-0.4491079361968578,0.0029336111703022485,0.0001563015552482595,0.0031934794737451095,-0.0034292989413263124,0.0029336110757092215,0.00015630111261928837,0.003197849383419901,-0.0034379968909180386,0.08123550789956034,0.4777356024068431,0.2998922445797833,0.9999999999994297,-5.003890038968058e-14,2.2037772204052984e-15,1.068426196011325e-06],"qvel":[2.4230603400217212e-11,2.7820980668422387e-10,-8.088673443932909e-10,7.569574973197872e-10,-3.7006595124076743e-13,8.700759893507586e-12,5.937128194686343e-10,3.862191589460155e-09,-3.5726590493385012e-09,-4.6071583640968714e-10,-3.919627444663812e-10,-2.4997844096345667e-09,2.376729383094924e-09,2.1446985634606774e-10,-2.891766638355187e-15,-6.57425391973687e-14,1.337621327547243e-14,1.4341966092375505e-12,-6.336920732916174e-14,2.3494427656692245e-08],"joint_position_rad":[-2.0199042629945723,-1.6014778092849897,1.3356012193342988,-1.3049197368900565,-1.5707963267931135,-0.4491079361968578],"joint_velocity_rad_s":[2.4230603400217212e-11,2.7820980668422387e-10,-8.088673443932909e-10,7.569574973197872e-10,-3.7006595124076743e-13,8.700759893507586e-12],"linkage_position_rad":[0.0029336111703022485,0.0001563015552482595,0.0031934794737451095,-0.0034292989413263124,0.0029336110757092215,0.00015630111261928837,0.003197849383419901,-0.0034379968909180386],"tcp_position_m":[0.0812553744877476,0.4772357226205505,0.4349999999640336],"tcp_quaternion_wxyz":[-8.40668955891435e-12,0.7071067811875436,0.7071067811855509,2.134704862855239e-11],"object_position_m":[0.08123550789956034,0.4777356024068431,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994297,-5.003890038968058e-14,2.2037772204052984e-15,1.068426196011325e-06],"object_linear_velocity_m_s":[-2.891766638355187e-15,-6.57425391973687e-14,1.337621327547243e-14],"object_angular_velocity_rad_s":[1.43419674474847e-12,-6.336614031129128e-14,2.3494427656692265e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263514,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262990029,-1.6109718312030237,1.3254580468037507,-1.3097463880184201,-1.570795108424189,-0.4491079361951364,0.0],"actuator_force":[-6.052687240298837e-10,-18.988043947351798,-20.28634473754937,-2.413325639877712,0.0006091844994671192,-9.379164112033322e-12,-0.29336111330932385],"issued_joint_targets_rad":[-2.0199042629900186,-1.6014778092295119,1.3356012191741036,-1.3049197367403342,-1.5707963267948035,-0.44910793619512596],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.319999999996949,"joint_targets_rad":[-2.0199042629900186,-1.6014778092295119,1.3356012191741036,-1.3049197367403342,-1.5707963267948035,-0.44910793619512596],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.339999999996937,"qpos":[-2.0199042629941584,-1.6014778092796997,1.335601219318918,-1.3049197368757606,-1.5707963267932934,-0.44910793619669187,0.002933611168447459,0.00015630154489981512,0.003193479483729716,-0.0034292989408428952,0.002933611077099599,0.00015630111918501618,0.0031978493770776135,-0.00343799689122009,0.08123550789956034,0.47773560240684176,0.2998922445797833,0.9999999999994295,-4.507700615241872e-14,1.9875101164806144e-15,1.068865160267687e-06],"qvel":[2.0376223890430867e-11,2.5208304861814015e-10,-7.327969155719761e-10,6.844382536869109e-10,-5.839804811489331e-13,7.919435016684203e-12,-4.1436586982783455e-10,-1.4186215815424706e-09,1.648460877069053e-09,-1.107395856963171e-10,6.368157947995191e-10,8.564182408270489e-10,-6.491134379626008e-10,-1.4707701288530112e-10,-2.9196409881292843e-15,-6.612149845665209e-14,1.3560787853316361e-14,4.569851466430318e-13,-1.9776285291058178e-14,4.289489181917216e-08],"joint_position_rad":[-2.0199042629941584,-1.6014778092796997,1.335601219318918,-1.3049197368757606,-1.5707963267932934,-0.44910793619669187],"joint_velocity_rad_s":[2.0376223890430867e-11,2.5208304861814015e-10,-7.327969155719761e-10,6.844382536869109e-10,-5.839804811489331e-13,7.919435016684203e-12],"linkage_position_rad":[0.002933611168447459,0.00015630154489981512,0.003193479483729716,-0.0034292989408428952,0.002933611077099599,0.00015630111918501618,0.0031978493770776135,-0.00343799689122009],"tcp_position_m":[0.08125537448764894,0.47723572262068326,0.4349999999674987],"tcp_quaternion_wxyz":[-7.628010620397365e-12,0.7071067811874557,0.7071067811856383,1.9391944471564198e-11],"object_position_m":[0.08123550789956034,0.47773560240684176,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994295,-4.507700615241872e-14,1.9875101164806144e-15,1.068865160267687e-06],"object_linear_velocity_m_s":[-2.9196409881292843e-15,-6.612149845665209e-14,1.3560787853316361e-14],"object_angular_velocity_rad_s":[4.569851890888568e-13,-1.977530451286222e-14,4.289489181917222e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221233999,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629900186,-1.61097183120302,1.3254580468036332,-1.30974638801826,-1.5707951084241991,-0.4491079361951259,0.0],"actuator_force":[1.291482476517558e-10,-18.98804394747367,-20.28634473745069,-2.4133256396935394,0.0006091846056506256,-8.952838470577262e-12,-0.2933611133896025],"issued_joint_targets_rad":[-2.0199042629900092,-1.6014778092294326,1.3356012191739717,-1.3049197367402012,-1.5707963267948124,-0.4491079361951166],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.339999999996937,"joint_targets_rad":[-2.0199042629900092,-1.6014778092294326,1.3356012191739717,-1.3049197367402012,-1.5707963267948124,-0.4491079361951166],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.359999999996926,"qpos":[-2.0199042629937676,-1.6014778092749071,1.3356012193050075,-1.3049197368627932,-1.5707963267934086,-0.4491079361965409,0.00293361117317358,0.00015630157129711697,0.0031934794588747368,-0.003429298943469845,0.0029336110731680936,0.00015630110220747755,0.003197849392666669,-0.003437996889436775,0.08123550789956034,0.4777356024068406,0.2998922445797833,0.9999999999994293,-3.698287669761044e-14,1.6335280160735767e-15,1.0692032769037807e-06],"qvel":[1.9657995962737778e-11,2.284661944645382e-10,-6.622602152761657e-10,6.186691928576e-10,-4.717448584058937e-12,7.192891280725759e-12,1.1586435993330144e-09,5.213965088200581e-09,-5.204282894543912e-09,-2.823074625037259e-10,-1.1127678018138907e-09,-3.3506186974647793e-09,3.1456384376479773e-09,3.208730566683668e-10,-3.1403447945168045e-15,-7.101003967982896e-14,1.38119758126378e-14,-8.265355836270448e-13,3.728866346634048e-14,7.831524015267195e-08],"joint_position_rad":[-2.0199042629937676,-1.6014778092749071,1.3356012193050075,-1.3049197368627932,-1.5707963267934086,-0.4491079361965409],"joint_velocity_rad_s":[1.9657995962737778e-11,2.284661944645382e-10,-6.622602152761657e-10,6.186691928576e-10,-4.717448584058937e-12,7.192891280725759e-12],"linkage_position_rad":[0.00293361117317358,0.00015630157129711697,0.0031934794588747368,-0.003429298943469845,0.0029336110731680936,0.00015630110220747755,0.003197849392666669,-0.003437996889436775],"tcp_position_m":[0.08125537448753793,0.4772357226208033,0.4349999999706249],"tcp_quaternion_wxyz":[-6.938443450360069e-12,0.7071067811873714,0.7071067811857233,1.7594077599006164e-11],"object_position_m":[0.08123550789956034,0.4777356024068406,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994293,-3.698287669761044e-14,1.6335280160735767e-15,1.0692032769037807e-06],"object_linear_velocity_m_s":[-3.1403447945168045e-15,-7.101003967982896e-14,1.38119758126378e-14],"object_angular_velocity_rad_s":[-8.265356631076248e-13,3.728690178979233e-14,7.83152401526721e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221310418,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629900092,-1.6109718312030172,1.3254580468035269,-1.3097463880181144,-1.5707951084242089,-0.4491079361951165,0.0],"actuator_force":[-3.4651748137548566e-10,-18.98804394760691,-20.286344738057323,-2.4133256395275566,0.0006091850716529734,-7.105427357601002e-12,-0.29336111254646263],"issued_joint_targets_rad":[-2.0199042629900004,-1.6014778092293613,1.3356012191738527,-1.3049197367400809,-1.5707963267948202,-0.44910793619510764],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.359999999996926,"joint_targets_rad":[-2.0199042629900004,-1.6014778092293613,1.3356012191738527,-1.3049197367400809,-1.5707963267948202,-0.44910793619510764],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.379999999996915,"qpos":[-2.019904262993424,-1.6014778092705642,1.3356012192924156,-1.304919736851073,-1.57079632679355,-0.4491079361964035,0.002933611171046309,0.00015630155967151326,0.0031934794696459106,-0.0034292989418952544,0.002933611075143804,0.00015630110978940678,0.003197849386017067,-0.0034379968906072655,0.08123550789956034,0.4777356024068395,0.2998922445797833,0.9999999999994282,-2.930631938927684e-14,1.2971443900421705e-15,1.0695003452643573e-06],"qvel":[1.8868087494864542e-11,2.0698875239991988e-10,-5.988747039448556e-10,5.620912082872557e-10,-1.3040513120877884e-13,6.548409061742542e-12,8.58023559854617e-10,4.876856293425986e-09,-4.631813553452384e-09,-4.924213917261613e-10,-7.126911749470465e-10,-3.1453585549371296e-09,2.933767874437001e-09,3.122224178625002e-10,-1.62158703196335e-15,-3.66619810994617e-14,1.3269354309352256e-14,1.3625989598506557e-12,-6.016890420622553e-14,8.484814933938263e-09],"joint_position_rad":[-2.019904262993424,-1.6014778092705642,1.3356012192924156,-1.304919736851073,-1.57079632679355,-0.4491079361964035],"joint_velocity_rad_s":[1.8868087494864542e-11,2.0698875239991988e-10,-5.988747039448556e-10,5.620912082872557e-10,-1.3040513120877884e-13,6.548409061742542e-12],"linkage_position_rad":[0.002933611171046309,0.00015630155967151326,0.0031934794696459106,-0.0034292989418952544,0.002933611075143804,0.00015630110978940678,0.003197849386017067,-0.0034379968906072655],"tcp_position_m":[0.08125537448745304,0.4772357226209121,0.4349999999734543],"tcp_quaternion_wxyz":[-6.298864679002584e-12,0.7071067811872983,0.7071067811857964,1.5978977008144792e-11],"object_position_m":[0.08123550789956034,0.4777356024068395,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994282,-2.930631938927684e-14,1.2971443900421705e-15,1.0695003452643573e-06],"object_linear_velocity_m_s":[-1.62158703196335e-15,-3.66619810994617e-14,1.3269354309352256e-14],"object_angular_velocity_rad_s":[1.362599088570878e-12,-6.016598910865445e-14,8.484814933938264e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221276323,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629900004,-1.610971831203015,1.325458046803431,-1.3097463880179823,-1.5707951084242169,-0.4491079361951076,0.0],"actuator_force":[-7.007656677160412e-10,-18.98804394769695,-20.286344738419302,-2.413325639663867,0.0006091846797744438,-6.87805368215777e-12,-0.2933611130361676],"issued_joint_targets_rad":[-2.019904262989993,-1.601477809229296,1.3356012191737439,-1.3049197367399719,-1.5707963267948273,-0.44910793619509953],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.379999999996915,"joint_targets_rad":[-2.019904262989993,-1.601477809229296,1.3356012191737439,-1.3049197367399719,-1.5707963267948273,-0.44910793619509953],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.399999999996904,"qpos":[-2.01990426299311,-1.601477809266629,1.335601219281023,-1.3049197368404633,-1.5707963267936855,-0.44910793619627865,0.0029336111719350036,0.00015630156309704492,0.0031934794660451373,-0.0034292989416548595,0.0029336110739330385,0.00015630110776181522,0.0031978493874511575,-0.003437996890284688,0.08123550789956034,0.4777356024068384,0.2998922445797833,0.9999999999994281,-2.7814981874444582e-14,1.2467505781166389e-15,1.0699825402865708e-06],"qvel":[1.525339028019903e-11,1.8756565882930413e-10,-5.428480411398044e-10,5.073987173501917e-10,-1.762824578975182e-12,5.96120757442806e-12,2.671651082227861e-11,4.013916071395765e-10,-3.2314457329035436e-10,9.367512117630359e-12,9.624335275788143e-11,-2.647103722683259e-10,3.230219594269021e-10,-5.260078330628265e-11,-1.5749319073063102e-15,-3.5181300987011254e-14,1.3462255559880874e-14,1.0353431909285878e-12,-4.584076440884692e-14,1.5491129386737272e-08],"joint_position_rad":[-2.01990426299311,-1.601477809266629,1.335601219281023,-1.3049197368404633,-1.5707963267936855,-0.44910793619627865],"joint_velocity_rad_s":[1.525339028019903e-11,1.8756565882930413e-10,-5.428480411398044e-10,5.073987173501917e-10,-1.762824578975182e-12,5.96120757442806e-12],"linkage_position_rad":[0.0029336111719350036,0.00015630156309704492,0.0031934794660451373,-0.0034292989416548595,0.0029336110739330385,0.00015630110776181522,0.0031978493874511575,-0.003437996890284688],"tcp_position_m":[0.08125537448737635,0.47723572262100994,0.43499999997601113],"tcp_quaternion_wxyz":[-5.714892344778508e-12,0.7071067811872311,0.7071067811858629,1.4513584621366689e-11],"object_position_m":[0.08123550789956034,0.4777356024068384,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994281,-2.7814981874444582e-14,1.2467505781166389e-15,1.0699825402865708e-06],"object_linear_velocity_m_s":[-1.5749319073063102e-15,-3.5181300987011254e-14,1.3462255559880874e-14],"object_angular_velocity_rad_s":[1.0353432890624797e-12,-4.583854794869601e-14,1.5491129386737288e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221291511,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989993,-1.6109718312030126,1.325458046803343,-1.309746388017863,-1.5707951084242247,-0.4491079361950995,0.0],"actuator_force":[1.3278622645884752e-10,-18.988043947792903,-20.286344738220578,-2.4133256394397904,0.0006091849066933719,-6.508571459562518e-12,-0.29336111290820144],"issued_joint_targets_rad":[-2.019904262989986,-1.6014778092292365,1.3356012191736457,-1.3049197367398735,-1.570796326794834,-0.44910793619509276],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.399999999996904,"joint_targets_rad":[-2.019904262989986,-1.6014778092292365,1.3356012191736457,-1.3049197367398735,-1.570796326794834,-0.44910793619509276],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.419999999996893,"qpos":[-2.0199042629928226,-1.6014778092630628,1.3356012192707156,-1.304919736830854,-1.5707963267937992,-0.44910793619616496,0.0029336111723740417,0.0001563015639566002,0.0031934794645505442,-0.0034292989413216633,0.002933611073369818,0.00015630110721080032,0.0031978493883079136,-0.0034379968904325914,0.08123550789956034,0.47773560240683727,0.2998922445797833,0.999999999999428,-2.4959961149039856e-14,1.1277972137943052e-15,1.070408021772968e-06],"qvel":[8.949942485090161e-12,1.7001561591762592e-10,-4.924565273339345e-10,4.477944213251089e-10,-2.726200876657069e-11,5.393160247412975e-12,-1.6884769812311412e-09,-9.1230580817703e-09,8.643935103030286e-09,8.115739833775906e-10,1.1113774688473501e-09,5.98598180203053e-09,-5.954772407640743e-09,-3.796002132332326e-10,-1.5325699446472206e-15,-3.3907708366430434e-14,1.3734260200914037e-14,5.800748217769631e-13,-2.5578178479404053e-14,2.8282890262931683e-08],"joint_position_rad":[-2.0199042629928226,-1.6014778092630628,1.3356012192707156,-1.304919736830854,-1.5707963267937992,-0.44910793619616496],"joint_velocity_rad_s":[8.949942485090161e-12,1.7001561591762592e-10,-4.924565273339345e-10,4.477944213251089e-10,-2.726200876657069e-11,5.393160247412975e-12],"linkage_position_rad":[0.0029336111723740417,0.0001563015639566002,0.0031934794645505442,-0.0034292989413216633,0.002933611073369818,0.00015630110721080032,0.0031978493883079136,-0.0034379968904325914],"tcp_position_m":[0.08125537448730337,0.4772357226210992,0.4349999999783204],"tcp_quaternion_wxyz":[-5.1880563409703005e-12,0.7071067811871701,0.7071067811859246,1.3178498826386285e-11],"object_position_m":[0.08123550789956034,0.47773560240683727,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999428,-2.4959961149039856e-14,1.1277972137943052e-15,1.070408021772968e-06],"object_linear_velocity_m_s":[-1.5325699446472206e-15,-3.3907708366430434e-14,1.3734260200914037e-14],"object_angular_velocity_rad_s":[5.800748765976029e-13,-2.5576935233980817e-14,2.8282890262931733e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129593,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989986,-1.6109718312030101,1.3254580468032637,-1.3097463880177551,-1.570795108424232,-0.4491079361950927,0.0],"actuator_force":[2.0932020561303943e-09,-18.988043947900678,-20.286344737921354,-2.413325638229935,0.0006091875097808952,-3.154809746774845e-12,-0.2933611094016954],"issued_joint_targets_rad":[-2.01990426298998,-1.601477809229184,1.3356012191735576,-1.3049197367397842,-1.57079632679484,-0.449107936195086],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.419999999996893,"joint_targets_rad":[-2.01990426298998,-1.601477809229184,1.3356012191735576,-1.3049197367397842,-1.57079632679484,-0.449107936195086],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.439999999996882,"qpos":[-2.019904262992557,-1.6014778092598323,1.3356012192613895,-1.3049197368221446,-1.5707963267938794,-0.4491079361960616,0.0029336111721257603,0.00015630156486523607,0.0031934794644352033,-0.003429298942288362,0.0029336110741788857,0.00015630110640425858,0.0031978493893180786,-0.0034379968903190767,0.08123550789956034,0.47773560240683643,0.2998922445797833,0.9999999999994268,-2.1966711347628016e-14,1.0107190575389074e-15,1.0708113464568204e-06],"qvel":[1.4533684766733183e-11,1.5400334313191182e-10,-4.4345363275015886e-10,4.1714253120526013e-10,-5.204972966458769e-13,4.928384046401494e-12,1.0139414580211218e-09,5.270098499637686e-09,-5.065099917448841e-09,-4.82537839383739e-10,-9.196107815065065e-10,-3.3922717706673786e-09,3.1222809410601334e-09,3.6921187655332725e-10,-1.6063065765407119e-15,-3.4642101918731895e-14,1.3655156810409496e-14,1.9424513607224933e-14,1.6227820714198626e-15,5.1637415300741885e-08],"joint_position_rad":[-2.019904262992557,-1.6014778092598323,1.3356012192613895,-1.3049197368221446,-1.5707963267938794,-0.4491079361960616],"joint_velocity_rad_s":[1.4533684766733183e-11,1.5400334313191182e-10,-4.4345363275015886e-10,4.1714253120526013e-10,-5.204972966458769e-13,4.928384046401494e-12],"linkage_position_rad":[0.0029336111721257603,0.00015630156486523607,0.0031934794644352033,-0.003429298942288362,0.0029336110741788857,0.00015630110640425858,0.0031978493893180786,-0.0034379968903190767],"tcp_position_m":[0.08125537448722797,0.47723572262118,0.4349999999804066],"tcp_quaternion_wxyz":[-4.718902564135723e-12,0.7071067811871126,0.7071067811859817,1.1958063138709251e-11],"object_position_m":[0.08123550789956034,0.47773560240683643,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994268,-2.1966711347628016e-14,1.0107190575389074e-15,1.0708113464568204e-06],"object_linear_velocity_m_s":[-1.6063065765407119e-15,-3.4642101918731895e-14,1.3655156810409496e-14],"object_angular_velocity_rad_s":[1.9424510236172888e-14,1.6228259400037867e-15,5.16374153007419e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221291826,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298998,-1.610971831203009,1.3254580468031927,-1.309746388017657,-1.570795108424238,-0.44910793619508593,0.0],"actuator_force":[-6.59383658785373e-10,-18.988043947954793,-20.286344739012293,-2.413325639470372,0.0006091848728146942,-5.002220859751105e-12,-0.2933611127868857],"issued_joint_targets_rad":[-2.019904262989974,-1.6014778092291353,1.3356012191734765,-1.3049197367397032,-1.570796326794845,-0.4491079361950804],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.439999999996882,"joint_targets_rad":[-2.019904262989974,-1.6014778092291353,1.3356012191734765,-1.3049197367397032,-1.570796326794845,-0.4491079361950804],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.459999999996871,"qpos":[-2.019904262992323,-1.6014778092569044,1.3356012192529498,-1.3049197368142733,-1.5707963267939833,-0.44910793619596745,0.0029336111722779537,0.00015630156518755392,0.0031934794640986206,-0.003429298941866199,0.002933611073761353,0.00015630110633966444,0.003197849388868222,-0.0034379968902274217,0.08123550789956034,0.47773560240683594,0.2998922445797833,0.9999999999994266,-1.829599594741737e-14,8.57040270641735e-16,1.0711564901878666e-06],"qvel":[1.2470317972259184e-11,1.395228991671696e-10,-4.0173937754960475e-10,3.779373498879668e-10,1.2918413362354212e-12,4.486786170136702e-12,4.2410364973118133e-10,2.4372144443342664e-09,-2.336763289880903e-09,-1.437763640920406e-10,-2.7587952096910104e-10,-1.5816779073600794e-09,1.5638197352166765e-09,7.413721550927661e-11,-1.8358727849558237e-15,-3.8607117767441565e-14,1.339147884206102e-14,-6.871970116646094e-13,3.5891381373586157e-14,9.427688026802452e-08],"joint_position_rad":[-2.019904262992323,-1.6014778092569044,1.3356012192529498,-1.3049197368142733,-1.5707963267939833,-0.44910793619596745],"joint_velocity_rad_s":[1.2470317972259184e-11,1.395228991671696e-10,-4.0173937754960475e-10,3.779373498879668e-10,1.2918413362354212e-12,4.486786170136702e-12],"linkage_position_rad":[0.0029336111722779537,0.00015630156518755392,0.0031934794640986206,-0.003429298941866199,0.002933611073761353,0.00015630110633966444,0.003197849388868222,-0.0034379968902274217],"tcp_position_m":[0.0812553744871716,0.47723572262125286,0.4349999999822932],"tcp_quaternion_wxyz":[-4.280696433238351e-12,0.7071067811870632,0.7071067811860315,1.0861532943483548e-11],"object_position_m":[0.08123550789956034,0.47773560240683594,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994266,-1.829599594741737e-14,8.57040270641735e-16,1.0711564901878666e-06],"object_linear_velocity_m_s":[-1.8358727849558237e-15,-3.8607117767441565e-14,1.339147884206102e-14],"object_angular_velocity_rad_s":[-6.871970883920106e-13,3.5889912632204655e-14,9.427688026802456e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221296259,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989974,-1.6109718312030072,1.325458046803127,-1.3097463880175682,-1.5707951084242433,-0.4491079361950803,0.0],"actuator_force":[-2.9058355721645057e-10,-18.98804394801482,-20.286344738949992,-2.413325639441041,0.0006091847408242757,-5.087485988042317e-12,-0.29336111304308604],"issued_joint_targets_rad":[-2.0199042629899693,-1.6014778092290913,1.3356012191734028,-1.3049197367396292,-1.5707963267948502,-0.4491079361950746],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.459999999996871,"joint_targets_rad":[-2.0199042629899693,-1.6014778092290913,1.3356012191734028,-1.3049197367396292,-1.5707963267948502,-0.4491079361950746],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.47999999999686,"qpos":[-2.0199042629921067,-1.601477809254251,1.3356012192453128,-1.3049197368071468,-1.5707963267940779,-0.449107936195882,0.002933611171586778,0.00015630156015127562,0.003193479468415912,-0.0034292989411579835,0.002933611074136359,0.000156301109629887,0.0031978493859875306,-0.003437996890635232,0.08123550789956034,0.4777356024068356,0.2998922445797833,0.9999999999994266,-1.5392634707078096e-14,7.327303464579257e-16,1.0715141048514625e-06],"qvel":[8.701718923009702e-12,1.2645643015163204e-10,-3.645633369642225e-10,3.380750244706448e-10,-6.798570978576614e-12,4.077076790836072e-12,-6.876062881700156e-10,-3.4005413400017694e-09,3.3828707947836855e-09,2.38939162392083e-10,6.470513561036736e-10,2.1994680277374796e-09,-2.0919915058579934e-09,-1.954097394379407e-10,-9.08944493750701e-16,-1.9166667607073434e-14,1.3592706765274332e-14,6.764135805446136e-13,-3.156790827941194e-14,1.0214127927885745e-08],"joint_position_rad":[-2.0199042629921067,-1.601477809254251,1.3356012192453128,-1.3049197368071468,-1.5707963267940779,-0.449107936195882],"joint_velocity_rad_s":[8.701718923009702e-12,1.2645643015163204e-10,-3.645633369642225e-10,3.380750244706448e-10,-6.798570978576614e-12,4.077076790836072e-12],"linkage_position_rad":[0.002933611171586778,0.00015630156015127562,0.003193479468415912,-0.0034292989411579835,0.002933611074136359,0.000156301109629887,0.0031978493859875306,-0.003437996890635232],"tcp_position_m":[0.08125537448711881,0.4772357226213192,0.4349999999839987],"tcp_quaternion_wxyz":[-3.882353240209261e-12,0.7071067811870169,0.7071067811860776,9.865535025392443e-12],"object_position_m":[0.08123550789956034,0.4777356024068356,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994266,-1.5392634707078096e-14,7.327303464579257e-16,1.0715141048514625e-06],"object_linear_velocity_m_s":[-9.08944493750701e-16,-1.9166667607073434e-14,1.3592706765274332e-14],"object_angular_velocity_rad_s":[6.764136482089473e-13,-3.1566458391510265e-14,1.0214127927885758e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221283817,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899693,-1.6109718312030057,1.3254580468030672,-1.309746388017487,-1.5707951084242489,-0.4491079361950746,0.0],"actuator_force":[7.939888746477664e-10,-18.988043948091672,-20.28634473866623,-2.4133256389776534,0.0006091855943850533,-4.007461029686965e-12,-0.2933611120833821],"issued_joint_targets_rad":[-2.0199042629899644,-1.6014778092290525,1.3356012191733384,-1.3049197367395642,-1.5707963267948546,-0.44910793619507017],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.47999999999686,"joint_targets_rad":[-2.0199042629899644,-1.6014778092290525,1.3356012191733384,-1.3049197367395642,-1.5707963267948546,-0.44910793619507017],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.499999999996849,"qpos":[-2.019904262991903,-1.6014778092518476,1.3356012192384066,-1.304919736800678,-1.5707963267941278,-0.4491079361958042,0.002933611173143422,0.00015630156978416076,0.0031934794597259105,-0.003429298942785512,0.0029336110732377245,0.0001563011032077663,0.0031978493922421468,-0.0034379968899373044,0.08123550789956034,0.4777356024068353,0.2998922445797833,0.9999999999994265,-1.419813500638158e-14,6.763384277109577e-16,1.0719717492748541e-06],"qvel":[1.1059979026435336e-11,1.145716895846728e-10,-3.284274598089933e-10,3.0938941270218215e-10,-1.037215408489598e-12,3.706151629499689e-12,1.1228870772416098e-09,5.332999636122871e-09,-5.211380615861901e-09,-4.094191279351414e-10,-1.0695985269252871e-09,-3.4292118500034474e-09,3.1562717585146337e-09,3.79200327429428e-10,-8.6671846886231e-16,-1.8243792773091726e-14,1.3903569212169376e-14,4.787227771747302e-13,-2.272067785989721e-14,1.864841820777522e-08],"joint_position_rad":[-2.019904262991903,-1.6014778092518476,1.3356012192384066,-1.304919736800678,-1.5707963267941278,-0.4491079361958042],"joint_velocity_rad_s":[1.1059979026435336e-11,1.145716895846728e-10,-3.284274598089933e-10,3.0938941270218215e-10,-1.037215408489598e-12,3.706151629499689e-12],"linkage_position_rad":[0.002933611173143422,0.00015630156978416076,0.0031934794597259105,-0.003429298942785512,0.0029336110732377245,0.0001563011032077663,0.0031978493922421468,-0.0034379968899373044],"tcp_position_m":[0.08125537448705654,0.4772357226213791,0.4349999999855365],"tcp_quaternion_wxyz":[-3.5343475815266836e-12,0.7071067811869723,0.7071067811861224,8.94597905604834e-12],"object_position_m":[0.08123550789956034,0.4777356024068353,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994265,-1.419813500638158e-14,6.763384277109577e-16,1.0719717492748541e-06],"object_linear_velocity_m_s":[-8.6671846886231e-16,-1.8243792773091726e-14,1.3903569212169376e-14],"object_angular_velocity_rad_s":[4.787228259107053e-13,-2.2719650975713762e-14,1.8648418207775256e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221306388,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899644,-1.6109718312030052,1.3254580468030155,-1.3097463880174154,-1.5707951084242535,-0.44910793619507017,0.0],"actuator_force":[-5.466063157655299e-10,-18.988043948143968,-20.286344739411106,-2.4133256393076863,0.0006091850408438404,-3.609557097661309e-12,-0.2933611125855001],"issued_joint_targets_rad":[-2.0199042629899604,-1.6014778092290165,1.3356012191732787,-1.3049197367395038,-1.5707963267948581,-0.4491079361950657],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.499999999996849,"joint_targets_rad":[-2.0199042629899604,-1.6014778092290165,1.3356012191732787,-1.3049197367395038,-1.5707963267948581,-0.4491079361950657],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.519999999996838,"qpos":[-2.0199042629917257,-1.60147780924967,1.3356012192321534,-1.304919736794837,-1.5707963267942067,-0.44910793619573347,0.0029336111728666815,0.00015630156837890389,0.0031934794610554936,-0.003429298942152113,0.00293361107331422,0.0001563011042460265,0.003197849390878181,-0.0034379968900602556,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994252,-1.2992832646080876e-14,6.318201009409554e-16,1.072423190762013e-06],"qvel":[1.0004286198102076e-11,1.0378052573803655e-10,-2.9731288767784427e-10,2.810748092867354e-10,1.830013590736645e-12,3.376622239704155e-12,6.924909477432179e-10,3.5946801839619575e-09,-3.5293333150772366e-09,-2.0115569796279108e-10,-5.691345611186783e-10,-2.325724024640531e-09,2.2499070473898676e-09,1.5897390069996274e-10,-8.773008525452567e-16,-1.8047451402660324e-14,1.3444214435730717e-14,2.3476371208661475e-13,-1.0205478784401883e-14,3.404730233535653e-08],"joint_position_rad":[-2.0199042629917257,-1.60147780924967,1.3356012192321534,-1.304919736794837,-1.5707963267942067,-0.44910793619573347],"joint_velocity_rad_s":[1.0004286198102076e-11,1.0378052573803655e-10,-2.9731288767784427e-10,2.810748092867354e-10,1.830013590736645e-12,3.376622239704155e-12],"linkage_position_rad":[0.0029336111728666815,0.00015630156837890389,0.0031934794610554936,-0.003429298942152113,0.00293361107331422,0.0001563011042460265,0.003197849390878181,-0.0034379968900602556],"tcp_position_m":[0.08125537448701337,0.47723572262143327,0.4349999999869297],"tcp_quaternion_wxyz":[-3.2059597351771735e-12,0.7071067811869346,0.7071067811861603,8.125662723429328e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994252,-1.2992832646080876e-14,6.318201009409554e-16,1.072423190762013e-06],"object_linear_velocity_m_s":[-8.773008525452567e-16,-1.8047451402660324e-14,1.3444214435730717e-14],"object_angular_velocity_rad_s":[2.3476373401828173e-13,-1.0204974367538183e-14,3.404730233535655e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130487,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899604,-1.6109718312030041,1.3254580468029673,-1.3097463880173492,-1.5707951084242573,-0.4491079361950657,0.0],"actuator_force":[-4.715730028692633e-10,-18.988043948180348,-20.28634473944703,-2.41332563936362,0.0006091847916422921,-3.780087354243733e-12,-0.29336111292582706],"issued_joint_targets_rad":[-2.019904262989957,-1.6014778092289845,1.3356012191732245,-1.3049197367394494,-1.5707963267948621,-0.44910793619506145],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.519999999996838,"joint_targets_rad":[-2.019904262989957,-1.6014778092289845,1.3356012191732245,-1.3049197367394494,-1.5707963267948621,-0.44910793619506145],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.539999999996827,"qpos":[-2.0199042629915662,-1.6014778092476973,1.3356012192264957,-1.304919736789551,-1.570796326794282,-0.44910793619566913,0.002933611171438544,0.00015630155997108498,0.003193479468821914,-0.0034292989413125616,0.0029336110744348732,0.00015630110970276287,0.003197849385945247,-0.0034379968906519016,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994251,-1.0951728299468815e-14,5.444406138696467e-16,1.0727881265867902e-06],"qvel":[8.04782460969747e-12,9.404095098174149e-11,-2.695937609642263e-10,2.539160427156058e-10,1.443384546704601e-12,3.075473077767596e-12,-3.960258676664965e-11,2.531629736495068e-10,-1.0294785742472429e-10,-8.149089599935735e-11,1.7666457821099465e-10,-1.7928573540294042e-10,2.1941887656635426e-10,-2.1048701085393898e-11,-9.369138388525746e-16,-1.874424969171861e-14,1.344976555085384e-14,-8.742183689730851e-14,6.2331811443653005e-15,6.216177604959022e-08],"joint_position_rad":[-2.0199042629915662,-1.6014778092476973,1.3356012192264957,-1.304919736789551,-1.570796326794282,-0.44910793619566913],"joint_velocity_rad_s":[8.04782460969747e-12,9.404095098174149e-11,-2.695937609642263e-10,2.539160427156058e-10,1.443384546704601e-12,3.075473077767596e-12],"linkage_position_rad":[0.002933611171438544,0.00015630155997108498,0.003193479468821914,-0.0034292989413125616,0.0029336110744348732,0.00015630110970276287,0.003197849385945247,-0.0034379968906519016],"tcp_position_m":[0.08125537448697602,0.4772357226214818,0.43499999998818945],"tcp_quaternion_wxyz":[-2.9061894766025856e-12,0.7071067811869011,0.7071067811861934,7.38246848644954e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994251,-1.0951728299468815e-14,5.444406138696467e-16,1.0727881265867902e-06],"object_linear_velocity_m_s":[-9.369138388525746e-16,-1.874424969171861e-14,1.344976555085384e-14],"object_angular_velocity_rad_s":[-8.74218502031875e-14,6.232994935691542e-15,6.216177604959029e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281532,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989957,-1.6109718312030037,1.3254580468029233,-1.3097463880172895,-1.5707951084242615,-0.44910793619506145,0.0],"actuator_force":[-4.547473508864641e-13,-18.988043948229006,-20.286344739307424,-2.4133256392608473,0.0006091848657661103,-3.694822225952521e-12,-0.2933611129789808],"issued_joint_targets_rad":[-2.0199042629899533,-1.6014778092289552,1.3356012191731768,-1.3049197367394012,-1.5707963267948652,-0.4491079361950583],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.539999999996827,"joint_targets_rad":[-2.0199042629899533,-1.6014778092289552,1.3356012191731768,-1.3049197367394012,-1.5707963267948652,-0.4491079361950583],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.559999999996815,"qpos":[-2.019904262991417,-1.6014778092459097,1.3356012192213775,-1.3049197367847605,-1.5707963267943417,-0.44910793619561057,0.0029336111711904694,0.00015630155945346656,0.0031934794696328378,-0.0034292989420007477,0.0029336110745712693,0.00015630110992406553,0.0031978493855268106,-0.0034379968903265968,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999425,-8.626503266833273e-15,4.3880917067155687e-16,1.0730772995032124e-06],"qvel":[1.9200572205320068e-12,8.527180173008232e-11,-2.453513011463381e-10,2.1723587603979e-10,-2.663715023177657e-11,2.764777683122688e-12,-1.8571611930288793e-09,-9.982546012575992e-09,9.483246649299493e-09,8.696079867089685e-10,1.2203869602015643e-09,6.507460305232241e-09,-6.49216732173999e-09,-4.014461412594094e-10,-1.144751367590982e-15,-2.1440831937311887e-14,1.3739811316037163e-14,-5.030756186906116e-13,3.1719342708596796e-14,1.1349170526285576e-07],"joint_position_rad":[-2.019904262991417,-1.6014778092459097,1.3356012192213775,-1.3049197367847605,-1.5707963267943417,-0.44910793619561057],"joint_velocity_rad_s":[1.9200572205320068e-12,8.527180173008232e-11,-2.453513011463381e-10,2.1723587603979e-10,-2.663715023177657e-11,2.764777683122688e-12],"linkage_position_rad":[0.0029336111711904694,0.00015630155945346656,0.0031934794696328378,-0.0034292989420007477,0.0029336110745712693,0.00015630110992406553,0.0031978493855268106,-0.0034379968903265968],"tcp_position_m":[0.08125537448693722,0.47723572262152586,0.43499999998932637],"tcp_quaternion_wxyz":[-2.637243911536877e-12,0.7071067811868691,0.7071067811862256,6.703370424403205e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999425,-8.626503266833273e-15,4.3880917067155687e-16,1.0730772995032124e-06],"object_linear_velocity_m_s":[-1.144751367590982e-15,-2.1440831937311887e-14,1.3739811316037163e-14],"object_angular_velocity_rad_s":[-5.030756866644666e-13,3.171826498854434e-14,1.1349170526285593e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279698,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899533,-1.610971831203003,1.325458046802885,-1.3097463880172364,-1.5707951084242648,-0.4491079361950583,0.0],"actuator_force":[2.1591404220089316e-09,-18.9880439482954,-20.286344738844946,-2.4133256379615204,0.0006091877021390246,-3.410605131648481e-13,-0.2933611091042158],"issued_joint_targets_rad":[-2.0199042629899497,-1.6014778092289281,1.335601219173132,-1.3049197367393561,-1.5707963267948684,-0.44910793619505474],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.559999999996815,"joint_targets_rad":[-2.0199042629899497,-1.6014778092289281,1.335601219173132,-1.3049197367393561,-1.5707963267948684,-0.44910793619505474],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.579999999996804,"qpos":[-2.0199042629912785,-1.60147780924429,1.3356012192167475,-1.3049197367804148,-1.570796326794376,-0.4491079361955573,0.002933611173636762,0.00015630157218244782,0.0031934794573411965,-0.0034292989424254947,0.0029336110726446807,0.00015630110177298025,0.0031978493932264683,-0.003437996889844096,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994239,-7.82620280104803e-15,4.1822209079665025e-16,1.0735078005749809e-06],"qvel":[7.893594653043418e-12,7.720463647010735e-11,-2.2006312577314987e-10,2.0876407726667068e-10,1.3830102327002414e-12,2.5403034523127513e-12,8.693109671963277e-10,4.162364702251286e-09,-4.155202508104962e-09,-1.9836120107710834e-10,-7.829822255349899e-10,-2.6900372662840747e-09,2.5829654597395447e-09,2.061180757327278e-10,-5.201490594356104e-16,-9.812290830762026e-15,1.3330416575706641e-14,3.2124553047750985e-13,-1.64015847391405e-14,1.2295896862653436e-08],"joint_position_rad":[-2.0199042629912785,-1.60147780924429,1.3356012192167475,-1.3049197367804148,-1.570796326794376,-0.4491079361955573],"joint_velocity_rad_s":[7.893594653043418e-12,7.720463647010735e-11,-2.2006312577314987e-10,2.0876407726667068e-10,1.3830102327002414e-12,2.5403034523127513e-12],"linkage_position_rad":[0.002933611173636762,0.00015630157218244782,0.0031934794573411965,-0.0034292989424254947,0.0029336110726446807,0.00015630110177298025,0.0031978493932264683,-0.003437996889844096],"tcp_position_m":[0.08125537448689461,0.477235722621566,0.4349999999903525],"tcp_quaternion_wxyz":[-2.4006441456483883e-12,0.7071067811868389,0.7071067811862556,6.078795326868504e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994239,-7.82620280104803e-15,4.1822209079665025e-16,1.0735078005749809e-06],"object_linear_velocity_m_s":[-5.201490594356104e-16,-9.812290830762026e-15,1.3330416575706641e-14],"object_angular_velocity_rad_s":[3.2124556570151247e-13,-1.640089482747659e-14,1.2295896862653439e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221315892,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899497,-1.610971831203002,1.3254580468028487,-1.309746388017187,-1.5707951084242682,-0.44910793619505474,0.0],"actuator_force":[-4.997673386242241e-10,-18.988043948305858,-20.286344739772176,-2.413325639262439,0.0006091849155609452,-2.7569058147491887e-12,-0.29336111274571586],"issued_joint_targets_rad":[-2.0199042629899475,-1.601477809228904,1.3356012191730915,-1.3049197367393157,-1.5707963267948708,-0.4491079361950524],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.579999999996804,"joint_targets_rad":[-2.0199042629899475,-1.601477809228904,1.3356012191730915,-1.3049197367393157,-1.5707963267948708,-0.4491079361950524],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.599999999996793,"qpos":[-2.019904262991158,-1.6014778092428226,1.3356012192125555,-1.3049197367764935,-1.570796326794433,-0.44910793619550887,0.0029336111717177694,0.00015630156202831838,0.0031934794670132475,-0.003429298941625935,0.0029336110743304195,0.00015630110835142234,0.003197849387218905,-0.003437996890530745,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994237,-7.451034537967863e-15,4.2347393759668707e-16,1.0739962351141333e-06],"qvel":[7.109740504049115e-12,6.994262114305378e-11,-1.992792693031849e-10,1.8995296746413498e-10,3.924247666876019e-12,2.3123401721625378e-12,3.921973382516408e-10,2.4850814969961407e-09,-2.305193629685152e-09,-2.4348491465024373e-10,-2.281558845580113e-10,-1.6172865826019146e-09,1.5668079273327993e-09,1.1566606724825692e-10,-5.457689934840386e-16,-9.649095970035313e-15,1.3354008814979926e-14,2.200457035605908e-13,-1.1226503880039626e-14,2.24492025705363e-08],"joint_position_rad":[-2.019904262991158,-1.6014778092428226,1.3356012192125555,-1.3049197367764935,-1.570796326794433,-0.44910793619550887],"joint_velocity_rad_s":[7.109740504049115e-12,6.994262114305378e-11,-1.992792693031849e-10,1.8995296746413498e-10,3.924247666876019e-12,2.3123401721625378e-12],"linkage_position_rad":[0.0029336111717177694,0.00015630156202831838,0.0031934794670132475,-0.003429298941625935,0.0029336110743304195,0.00015630110835142234,0.003197849387218905,-0.003437996890530745],"tcp_position_m":[0.08125537448686634,0.47723572262160247,0.4349999999912824],"tcp_quaternion_wxyz":[-2.176300007883502e-12,0.7071067811868135,0.707106781186281,5.5231071493455235e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994237,-7.451034537967863e-15,4.2347393759668707e-16,1.0739962351141333e-06],"object_linear_velocity_m_s":[-5.457689934840386e-16,-9.649095970035313e-15,1.3354008814979926e-14],"object_angular_velocity_rad_s":[2.2004572769354205e-13,-1.1226030888959794e-14,2.244920257053632e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286451,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899475,-1.6109718312030012,1.3254580468028159,-1.3097463880171425,-1.5707951084242706,-0.4491079361950524,0.0],"actuator_force":[-4.2291503632441163e-10,-18.988043948334507,-20.286344739767173,-2.413325639319737,0.0006091846886420171,-2.9842794901924208e-12,-0.29336111312261676],"issued_joint_targets_rad":[-2.0199042629899444,-1.6014778092288824,1.3356012191730555,-1.3049197367392797,-1.5707963267948732,-0.4491079361950494],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.599999999996793,"joint_targets_rad":[-2.0199042629899444,-1.6014778092288824,1.3356012191730555,-1.3049197367392797,-1.5707963267948732,-0.4491079361950494],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.619999999996782,"qpos":[-2.019904262991048,-1.6014778092414927,1.3356012192087638,-1.3049197367729435,-1.5707963267944878,-0.44910793619546485,0.0029336111703109667,0.0001563015552903651,0.0031934794738753373,-0.0034292989418280052,0.002933611075415247,0.00015630111260299786,0.0031978493829238276,-0.0034379968905203736,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994236,-6.576307168340052e-15,3.994176139640223e-16,1.0744156706354538e-06],"qvel":[3.57564915429503e-12,6.341242679230952e-11,-1.8148342350815734e-10,1.6750046904161222e-10,-5.10274898587806e-12,2.0975840649209973e-12,-7.61750296634441e-10,-3.730557184911237e-09,3.736361186781688e-09,2.4614483453310273e-10,7.175632655418488e-10,2.399425983413035e-09,-2.296838436190785e-09,-2.0583198372442892e-10,-5.881045447387295e-16,-9.594163661590507e-15,1.3591318986493552e-14,7.930941931888664e-14,-2.384479791828679e-15,4.098657476412769e-08],"joint_position_rad":[-2.019904262991048,-1.6014778092414927,1.3356012192087638,-1.3049197367729435,-1.5707963267944878,-0.44910793619546485],"joint_velocity_rad_s":[3.57564915429503e-12,6.341242679230952e-11,-1.8148342350815734e-10,1.6750046904161222e-10,-5.10274898587806e-12,2.0975840649209973e-12],"linkage_position_rad":[0.0029336111703109667,0.0001563015552903651,0.0031934794738753373,-0.0034292989418280052,0.002933611075415247,0.00015630111260299786,0.0031978493829238276,-0.0034379968905203736],"tcp_position_m":[0.08125537448684067,0.4772357226216351,0.43499999999212197],"tcp_quaternion_wxyz":[-1.970894440688766e-12,0.7071067811867902,0.7071067811863043,5.018655015282129e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994236,-6.576307168340052e-15,3.994176139640223e-16,1.0744156706354538e-06],"object_linear_velocity_m_s":[-5.881045447387295e-16,-9.594163661590507e-15,1.3591318986493552e-14],"object_angular_velocity_rad_s":[7.93094244752895e-14,-2.384308830176641e-15,4.0986574764127756e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221266781,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899444,-1.610971831203001,1.3254580468027868,-1.3097463880171027,-1.570795108424273,-0.4491079361950494,0.0],"actuator_force":[7.771632226649672e-10,-18.9880439483818,-20.28634473936063,-2.413325638829747,0.0006091856175771682,-2.0463630789890885e-12,-0.2933611120653755],"issued_joint_targets_rad":[-2.0199042629899426,-1.6014778092288628,1.3356012191730224,-1.3049197367392462,-1.5707963267948755,-0.4491079361950475],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.619999999996782,"joint_targets_rad":[-2.0199042629899426,-1.6014778092288628,1.3356012191730224,-1.3049197367392462,-1.5707963267948755,-0.4491079361950475],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.639999999996771,"qpos":[-2.019904262990939,-1.6014778092402877,1.335601219205335,-1.3049197367697132,-1.5707963267945033,-0.44910793619542483,0.0029336111745155804,0.00015630157619761387,0.0031934794533454705,-0.0034292989426581884,0.0029336110718287517,0.0001563010991857447,0.0031978493956711,-0.0034379968896017755,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994234,-5.59619873622592e-15,3.4434868660940217e-16,1.074793639120389e-06],"qvel":[6.0946862016374945e-12,5.74297162955399e-11,-1.6293039020555945e-10,1.548745340505959e-10,6.638143461201741e-13,1.9060097790061716e-12,9.798883107771117e-10,4.347505372477539e-09,-4.406059406341784e-09,-1.574798080606837e-10,-9.278669755265739e-10,-2.8112253699726793e-09,2.6981461924936638e-09,2.220242587431233e-10,-6.170603754758081e-16,-1.0259918770219164e-14,1.3846670282157341e-14,-1.0375495797410205e-13,5.247187115787951e-15,7.483113512013575e-08],"joint_position_rad":[-2.019904262990939,-1.6014778092402877,1.335601219205335,-1.3049197367697132,-1.5707963267945033,-0.44910793619542483],"joint_velocity_rad_s":[6.0946862016374945e-12,5.74297162955399e-11,-1.6293039020555945e-10,1.548745340505959e-10,6.638143461201741e-13,1.9060097790061716e-12],"linkage_position_rad":[0.0029336111745155804,0.00015630157619761387,0.0031934794533454705,-0.0034292989426581884,0.0029336110718287517,0.0001563010991857447,0.0031978493956711,-0.0034379968896017755],"tcp_position_m":[0.08125537448680337,0.4772357226216651,0.4349999999928781],"tcp_quaternion_wxyz":[-1.7974947313249602e-12,0.7071067811867658,0.7071067811863289,4.546233850333688e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994234,-5.59619873622592e-15,3.4434868660940217e-16,1.074793639120389e-06],"object_linear_velocity_m_s":[-6.170603754758081e-16,-1.0259918770219164e-14,1.3846670282157341e-14],"object_angular_velocity_rad_s":[-1.037549692016141e-13,5.246964922977986e-15,7.483113512013588e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221328161,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899426,-1.6109718312030008,1.32545804680276,-1.309746388017066,-1.5707951084242757,-0.4491079361950475,0.0],"actuator_force":[-4.4519765651784837e-10,-18.988043948398172,-20.28634473997772,-2.4133256391638724,0.000609185047437677,-1.9326762412674725e-12,-0.2933611125773233],"issued_joint_targets_rad":[-2.0199042629899404,-1.6014778092288449,1.3356012191729927,-1.304919736739216,-1.5707963267948775,-0.449107936195045],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.639999999996771,"joint_targets_rad":[-2.0199042629899404,-1.6014778092288449,1.3356012191729927,-1.304919736739216,-1.5707963267948775,-0.449107936195045],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.65999999999676,"qpos":[-2.01990426299085,-1.6014778092391964,1.335601219202229,-1.304919736766803,-1.5707963267945457,-0.4491079361953884,0.0029336111722853505,0.00015630156537042777,0.0031934794638937758,-0.0034292989419992715,0.0029336110739077575,0.00015630110619405024,0.00319784938924472,-0.0034379968903038988,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994222,-4.368320948562177e-15,2.6572134750265113e-16,1.075077491440664e-06],"qvel":[6.027658966839067e-12,5.202076433542041e-11,-1.473088472544787e-10,1.416443086337015e-10,3.899081674994397e-12,1.73914929869777e-12,6.837839308824321e-10,3.756386882595673e-09,-3.6092066009156463e-09,-3.039469367658399e-10,-5.470074806494545e-10,-2.4335373613848485e-09,2.3138732570868767e-09,2.0772713550022693e-10,-3.3093892750546213e-16,-5.444300483057101e-15,1.3274905424475385e-14,2.0577990958792894e-13,-1.2650583957804225e-14,8.107340685571798e-09],"joint_position_rad":[-2.01990426299085,-1.6014778092391964,1.335601219202229,-1.304919736766803,-1.5707963267945457,-0.4491079361953884],"joint_velocity_rad_s":[6.027658966839067e-12,5.202076433542041e-11,-1.473088472544787e-10,1.416443086337015e-10,3.899081674994397e-12,1.73914929869777e-12],"linkage_position_rad":[0.0029336111722853505,0.00015630156537042777,0.0031934794638937758,-0.0034292989419992715,0.0029336110739077575,0.00015630110619405024,0.00319784938924472,-0.0034379968903038988],"tcp_position_m":[0.08125537448678251,0.477235722621692,0.434999999993565],"tcp_quaternion_wxyz":[-1.6296384858385282e-12,0.7071067811867472,0.7071067811863475,4.130521801502249e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994222,-4.368320948562177e-15,2.6572134750265113e-16,1.075077491440664e-06],"object_linear_velocity_m_s":[-3.3093892750546213e-16,-5.444300483057101e-15,1.3274905424475385e-14],"object_angular_velocity_rad_s":[2.0577993679247797e-13,-1.2650141428246072e-14,8.1073406855718e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295638,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899404,-1.6109718312030004,1.325458046802736,-1.3097463880170328,-1.5707951084242777,-0.449107936195045,0.0],"actuator_force":[-5.920810508541763e-10,-18.98804394841636,-20.28634474006276,-2.4133256392793783,0.0006091847440075071,-2.2168933355715126e-12,-0.2933611129935376],"issued_joint_targets_rad":[-2.019904262989938,-1.601477809228829,1.335601219172967,-1.3049197367391898,-1.570796326794879,-0.44910793619504275],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.65999999999676,"joint_targets_rad":[-2.019904262989938,-1.601477809228829,1.335601219172967,-1.3049197367391898,-1.570796326794879,-0.44910793619504275],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.679999999996749,"qpos":[-2.019904262990769,-1.6014778092382072,1.3356012191994189,-1.3049197367641707,-1.5707963267945906,-0.44910793619535533,0.0029336111701299176,0.00015630155507222014,0.0031934794743613045,-0.0034292989420010777,0.0029336110757519187,0.0001563011127196244,0.003197849382832196,-0.003437996890520886,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994221,-4.04976775135075e-15,2.463511590758947e-16,1.0755382344683454e-06],"qvel":[4.322714129583554e-12,4.7138235297658514e-11,-1.339199997083332e-10,1.2761918227913013e-10,3.3117335019665335e-12,1.585885242376244e-12,-5.3968382107210807e-11,2.564037628603563e-10,-6.972131735426349e-11,-1.0242317527087452e-10,2.0531323211957926e-10,-1.8404341448841826e-10,2.1578518506195905e-10,-1.7712245152084115e-11,-3.1166423777010617e-16,-5.135082013376797e-15,1.3441438878169157e-14,1.5445968263822555e-13,-9.445035016598728e-15,1.4801956733347383e-08],"joint_position_rad":[-2.019904262990769,-1.6014778092382072,1.3356012191994189,-1.3049197367641707,-1.5707963267945906,-0.44910793619535533],"joint_velocity_rad_s":[4.322714129583554e-12,4.7138235297658514e-11,-1.339199997083332e-10,1.2761918227913013e-10,3.3117335019665335e-12,1.585885242376244e-12],"linkage_position_rad":[0.0029336111701299176,0.00015630155507222014,0.0031934794743613045,-0.0034292989420010777,0.0029336110757519187,0.0001563011127196244,0.003197849382832196,-0.003437996890520886],"tcp_position_m":[0.08125537448676479,0.4772357226217161,0.43499999999418537],"tcp_quaternion_wxyz":[-1.4747305198612582e-12,0.7071067811867301,0.7071067811863642,3.754976352945351e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994221,-4.04976775135075e-15,2.463511590758947e-16,1.0755382344683454e-06],"object_linear_velocity_m_s":[-3.1166423777010617e-16,-5.135082013376797e-15,1.3441438878169157e-14],"object_angular_velocity_rad_s":[1.5445970296215378e-13,-9.444702642099182e-15,1.48019567333474e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221264258,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989938,-1.6109718312030004,1.3254580468027153,-1.3097463880170037,-1.570795108424279,-0.44910793619504275,0.0],"actuator_force":[-6.730260793119669e-11,-18.988043948441828,-20.28634473983948,-2.4133256391784244,0.000609184824611475,-2.3021584638627246e-12,-0.293361113050816],"issued_joint_targets_rad":[-2.019904262989937,-1.6014778092288138,1.3356012191729416,-1.304919736739165,-1.570796326794881,-0.4491079361950414],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.679999999996749,"joint_targets_rad":[-2.019904262989937,-1.6014778092288138,1.3356012191729416,-1.304919736739165,-1.570796326794881,-0.4491079361950414],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.699999999996738,"qpos":[-2.0199042629906923,-1.6014778092373119,1.335601219196878,-1.3049197367617844,-1.5707963267946263,-0.44910793619532535,0.00293361117240295,0.00015630156429055113,0.003193479464607344,-0.0034292989415949803,0.002933611073288237,0.00015630110696237577,0.003197849388101283,-0.0034379968901683453,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999422,-3.75750180164441e-15,2.264239507155066e-16,1.0759986815587092e-06],"qvel":[-2.082022506267512e-12,4.276543994965922e-11,-1.2283459072931003e-10,1.0206272536907891e-10,-2.6457709322595053e-11,1.4097454933362404e-12,-2.0187411852022525e-09,-1.1592020429085431e-08,1.0874710222904497e-08,1.1441059051314631e-09,1.3561128297769726e-09,7.584265201189364e-09,-7.3575280394631985e-09,-5.874632509619633e-10,-3.004541659556338e-16,-5.016373286441175e-15,1.3743974652379516e-14,9.229713068481464e-14,-5.651650003684896e-15,2.7024635035465142e-08],"joint_position_rad":[-2.0199042629906923,-1.6014778092373119,1.335601219196878,-1.3049197367617844,-1.5707963267946263,-0.44910793619532535],"joint_velocity_rad_s":[-2.082022506267512e-12,4.276543994965922e-11,-1.2283459072931003e-10,1.0206272536907891e-10,-2.6457709322595053e-11,1.4097454933362404e-12],"linkage_position_rad":[0.00293361117240295,0.00015630156429055113,0.003193479464607344,-0.0034292989415949803,0.002933611073288237,0.00015630110696237577,0.003197849388101283,-0.0034379968901683453],"tcp_position_m":[0.08125537448674568,0.47723572262173763,0.4349999999947456],"tcp_quaternion_wxyz":[-1.3356127065560269e-12,0.7071067811867134,0.7071067811863808,3.4111404382490474e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999422,-3.75750180164441e-15,2.264239507155066e-16,1.0759986815587092e-06],"object_linear_velocity_m_s":[-3.004541659556338e-16,-5.016373286441175e-15,1.3743974652379516e-14],"object_angular_velocity_rad_s":[9.229714285917483e-14,-5.65145117739972e-15,2.7024635035465192e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221297146,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989937,-1.6109718312029995,1.3254580468026946,-1.3097463880169766,-1.5707951084242817,-0.4491079361950414,0.0],"actuator_force":[2.343767846468836e-09,-18.98804394848139,-20.2863447392333,-2.413325637802359,0.0006091878179859123,9.947598300641403e-13,-0.2933611089714176],"issued_joint_targets_rad":[-2.0199042629899355,-1.6014778092288011,1.3356012191729207,-1.3049197367391439,-1.5707963267948826,-0.44910793619503947],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.699999999996738,"joint_targets_rad":[-2.0199042629899355,-1.6014778092288011,1.3356012191729207,-1.3049197367391439,-1.5707963267948826,-0.44910793619503947],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.719999999996727,"qpos":[-2.019904262990618,-1.6014778092364996,1.3356012191945792,-1.304919736759612,-1.570796326794631,-0.4491079361952978,0.0029336111730507526,0.0001563015693646921,0.003193479460068064,-0.0034292989423688213,0.00293361107324624,0.00015630110360282797,0.003197849391657036,-0.0034379968900312583,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994208,-3.2383862836115733e-15,1.9617683429453352e-16,1.0763840630483875e-06],"qvel":[4.924853382710563e-12,3.86972952182783e-11,-1.0891826909376563e-10,1.0531924963746801e-10,2.9617643254153785e-12,1.3072179870335354e-12,8.777926616231687e-10,4.389455649381941e-09,-4.303018723280029e-09,-2.981196330654387e-10,-7.81274947660113e-10,-2.838462864928743e-09,2.6813508171540342e-09,2.5861956552573564e-10,-3.0757108800452875e-16,-5.062931620271358e-15,1.3646830137724815e-14,1.1154453654059047e-14,-6.041871393245892e-16,4.934015900445066e-08],"joint_position_rad":[-2.019904262990618,-1.6014778092364996,1.3356012191945792,-1.304919736759612,-1.570796326794631,-0.4491079361952978],"joint_velocity_rad_s":[4.924853382710563e-12,3.86972952182783e-11,-1.0891826909376563e-10,1.0531924963746801e-10,2.9617643254153785e-12,1.3072179870335354e-12],"linkage_position_rad":[0.0029336111730507526,0.0001563015693646921,0.003193479460068064,-0.0034292989423688213,0.00293361107324624,0.00015630110360282797,0.003197849391657036,-0.0034379968900312583],"tcp_position_m":[0.08125537448671874,0.4772357226217579,0.43499999999524963],"tcp_quaternion_wxyz":[-1.220195374318518e-12,0.7071067811866971,0.7071067811863971,3.0882148381932947e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994208,-3.2383862836115733e-15,1.9617683429453352e-16,1.0763840630483875e-06],"object_linear_velocity_m_s":[-3.0757108800452875e-16,-5.062931620271358e-15,1.3646830137724815e-14],"object_angular_velocity_rad_s":[1.1154454974066465e-14,-6.041628068058897e-16,4.934015900445067e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221307171,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899355,-1.610971831203,1.325458046802678,-1.3097463880169533,-1.570795108424283,-0.44910793619503947,0.0],"actuator_force":[-6.048139766789973e-10,-18.988043948480026,-20.28634474023511,-2.4133256392026396,0.0006091848778169151,-1.5347723092418164e-12,-0.2933611127974382],"issued_joint_targets_rad":[-2.0199042629899333,-1.601477809228789,1.3356012191728999,-1.304919736739123,-1.5707963267948837,-0.449107936195038],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.719999999996727,"joint_targets_rad":[-2.0199042629899333,-1.601477809228789,1.3356012191728999,-1.304919736739123,-1.5707963267948837,-0.449107936195038],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.739999999996716,"qpos":[-2.0199042629905564,-1.6014778092357638,1.3356012191924969,-1.3049197367576593,-1.5707963267946652,-0.44910793619527295,0.0029336111704176097,0.00015630155728372475,0.0031934794724420134,-0.0034292989423545636,0.002933611075649628,0.00015630111126899675,0.003197849384202254,-0.003437996890374664,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994207,-2.6588713819061075e-15,1.6316324760724858e-16,1.0767138519518403e-06],"qvel":[4.392370847014431e-12,3.5048971043176106e-11,-9.87353437777733e-11,9.637143515985492e-11,5.585611617172916e-12,1.1940730504517363e-12,4.1812281583537604e-10,2.694571648732962e-09,-2.4779466082384545e-09,-2.7776304671617793e-10,-2.367729900306212e-10,-1.7476184137791719e-09,1.6818781949811218e-09,1.300217433716261e-10,-3.5299407902488563e-16,-5.594064366470729e-15,1.3363723266445397e-14,-9.519602130644349e-14,6.70277886278863e-15,9.008267040010376e-08],"joint_position_rad":[-2.0199042629905564,-1.6014778092357638,1.3356012191924969,-1.3049197367576593,-1.5707963267946652,-0.44910793619527295],"joint_velocity_rad_s":[4.392370847014431e-12,3.5048971043176106e-11,-9.87353437777733e-11,9.637143515985492e-11,5.585611617172916e-12,1.1940730504517363e-12],"linkage_position_rad":[0.0029336111704176097,0.00015630155728372475,0.0031934794724420134,-0.0034292989423545636,0.002933611075649628,0.00015630111126899675,0.003197849384202254,-0.003437996890374664],"tcp_position_m":[0.08125537448670518,0.47723572262177644,0.4349999999957078],"tcp_quaternion_wxyz":[-1.1041709594297375e-12,0.7071067811866841,0.7071067811864106,2.807715778711319e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994207,-2.6588713819061075e-15,1.6316324760724858e-16,1.0767138519518403e-06],"object_linear_velocity_m_s":[-3.5299407902488563e-16,-5.594064366470729e-15,1.3363723266445397e-14],"object_angular_velocity_rad_s":[-9.519603571077668e-14,6.702574344060011e-15,9.008267040010383e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221269346,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899333,-1.6109718312029995,1.3254580468026609,-1.3097463880169302,-1.5707951084242842,-0.449107936195038,0.0],"actuator_force":[-5.111360223963857e-10,-18.98804394849094,-20.28634474017781,-2.4133256392726707,0.000609184632025972,-1.9326762412674725e-12,-0.293361113210111],"issued_joint_targets_rad":[-2.019904262989933,-1.6014778092287787,1.3356012191728823,-1.3049197367391048,-1.5707963267948852,-0.4491079361950366],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.739999999996716,"joint_targets_rad":[-2.019904262989933,-1.6014778092287787,1.3356012191728823,-1.3049197367391048,-1.5707963267948852,-0.4491079361950366],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.759999999996705,"qpos":[-2.019904262990501,-1.6014778092350974,1.3356012191906133,-1.3049197367558938,-1.570796326794703,-0.44910793619525036,0.002933611171389836,0.00015630155897018277,0.0031934794698453505,-0.003429298941215256,0.002933611074260808,0.00015630111039378582,0.0031978493849180866,-0.003437996890517549,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994207,-2.2213433931646265e-15,1.3903158339644482e-16,1.0770555569783472e-06],"qvel":[6.969217091525707e-13,3.177760873570647e-11,-9.068392550147574e-11,8.241195136471839e-11,-4.0841543806309264e-12,1.080071097620652e-12,-9.014864543719518e-10,-4.917598716084422e-09,4.7674563479089665e-09,4.5287114146669976e-10,8.583172340103054e-10,3.1781324530942887e-09,-2.9000932128415835e-09,-3.657416592006877e-10,-1.7357208783683221e-16,-2.772547598057687e-15,1.3650993474067157e-14,9.819025128953391e-14,-6.142479238612575e-15,9.759719635779884e-09],"joint_position_rad":[-2.019904262990501,-1.6014778092350974,1.3356012191906133,-1.3049197367558938,-1.570796326794703,-0.44910793619525036],"joint_velocity_rad_s":[6.969217091525707e-13,3.177760873570647e-11,-9.068392550147574e-11,8.241195136471839e-11,-4.0841543806309264e-12,1.080071097620652e-12],"linkage_position_rad":[0.002933611171389836,0.00015630155897018277,0.0031934794698453505,-0.003429298941215256,0.002933611074260808,0.00015630111039378582,0.0031978493849180866,-0.003437996890517549],"tcp_position_m":[0.08125537448669508,0.4772357226217922,0.4349999999961221],"tcp_quaternion_wxyz":[-9.957264195679277e-13,0.7071067811866725,0.707106781186422,2.5552019135867842e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994207,-2.2213433931646265e-15,1.3903158339644482e-16,1.0770555569783472e-06],"object_linear_velocity_m_s":[-1.7357208783683221e-16,-2.772547598057687e-15,1.3650993474067157e-14],"object_angular_velocity_rad_s":[9.81902645236028e-14,-6.142267682527367e-15,9.759719635779897e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128075,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989933,-1.6109718312030001,1.325458046802647,-1.3097463880169102,-1.570795108424286,-0.4491079361950366,0.0],"actuator_force":[8.571987564209849e-10,-18.98804394851686,-20.286344739658944,-2.4133256387493702,0.0006091856168950471,-1.1084466677857563e-12,-0.2933611120666861],"issued_joint_targets_rad":[-2.019904262989931,-1.6014778092287685,1.3356012191728657,-1.3049197367390886,-1.570796326794886,-0.4491079361950354],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.759999999996705,"joint_targets_rad":[-2.019904262989931,-1.6014778092287685,1.3356012191728657,-1.3049197367390886,-1.570796326794886,-0.4491079361950354],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.779999999996694,"qpos":[-2.019904262990441,-1.6014778092344937,1.3356012191889124,-1.304919736754275,-1.570796326794695,-0.44910793619522976,0.0029336111739456452,0.00015630157361046262,0.003193479455905563,-0.003429298942695751,0.002933611072416874,0.0001563011008546065,0.0031978493942221133,-0.003437996889732467,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994205,-2.1490049979780413e-15,1.3738493453365477e-16,1.0775482663459927e-06],"qvel":[3.8776562188232886e-12,2.8787736219033126e-11,-8.058210748267554e-11,7.811271424685554e-11,1.836207559114214e-12,9.82188390403955e-13,1.000694706863404e-09,4.605790684975926e-09,-4.590434318448746e-09,-2.5030275388234656e-10,-9.414648420793625e-10,-2.9774818395113235e-09,2.811510476225363e-09,2.751199060634795e-10,-1.7482995810242192e-16,-2.7275930165891647e-15,1.3917446999977194e-14,7.339595381670315e-14,-4.481042818330259e-15,1.781878341877204e-08],"joint_position_rad":[-2.019904262990441,-1.6014778092344937,1.3356012191889124,-1.304919736754275,-1.570796326794695,-0.44910793619522976],"joint_velocity_rad_s":[3.8776562188232886e-12,2.8787736219033126e-11,-8.058210748267554e-11,7.811271424685554e-11,1.836207559114214e-12,9.82188390403955e-13],"linkage_position_rad":[0.0029336111739456452,0.00015630157361046262,0.003193479455905563,-0.003429298942695751,0.002933611072416874,0.0001563011008546065,0.0031978493942221133,-0.003437996889732467],"tcp_position_m":[0.08125537448666897,0.47723572262180697,0.43499999999649286],"tcp_quaternion_wxyz":[-9.135934326402193e-13,0.7071067811866585,0.7071067811864358,2.307685577818794e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994205,-2.1490049979780413e-15,1.3738493453365477e-16,1.0775482663459927e-06],"object_linear_velocity_m_s":[-1.7482995810242192e-16,-2.7275930165891647e-15,1.3917446999977194e-14],"object_angular_velocity_rad_s":[7.339596347850868e-14,-4.480884566368964e-15,1.7818783418772076e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221319937,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989931,-1.6109718312029997,1.3254580468026333,-1.3097463880168925,-1.5707951084242868,-0.4491079361950354,0.0],"actuator_force":[-5.315996531862766e-10,-18.98804394852732,-20.28634474032515,-2.4133256391199893,0.0006091850204938964,-1.0516032489249483e-12,-0.2933611126142753],"issued_joint_targets_rad":[-2.01990426298993,-1.6014778092287594,1.335601219172851,-1.3049197367390737,-1.5707963267948872,-0.4491079361950343],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.779999999996694,"joint_targets_rad":[-2.01990426298993,-1.6014778092287594,1.335601219172851,-1.3049197367390737,-1.5707963267948872,-0.4491079361950343],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.799999999996682,"qpos":[-2.0199042629903965,-1.6014778092339466,1.335601219187369,-1.304919736752826,-1.5707963267947198,-0.44910793619521105,0.002933611171028032,0.00015630156091823167,0.0031934794690614784,-0.0034292989427697,0.0029336110751946513,0.00015630110892016612,0.0031978493863828736,-0.003437996890129411,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994192,-1.9221898588942345e-15,1.2609263237497123e-16,1.0779796240084115e-06],"qvel":[4.037525151033231e-12,2.606557067538511e-11,-7.279161777558335e-11,7.225729092404449e-11,5.2355600024772286e-12,8.975735078265631e-13,7.364313129814619e-10,4.084019732989134e-09,-3.905898403381426e-09,-3.4176557772828396e-10,-5.853331381633463e-10,-2.6339207427229366e-09,2.49293596364985e-09,2.2977544906541725e-10,-1.752869985643546e-16,-2.6621521622959604e-15,1.3463643338661657e-14,3.818811149611962e-14,-2.334567948559713e-15,3.2532598719425834e-08],"joint_position_rad":[-2.0199042629903965,-1.6014778092339466,1.335601219187369,-1.304919736752826,-1.5707963267947198,-0.44910793619521105],"joint_velocity_rad_s":[4.037525151033231e-12,2.606557067538511e-11,-7.279161777558335e-11,7.225729092404449e-11,5.2355600024772286e-12,8.975735078265631e-13],"linkage_position_rad":[0.002933611171028032,0.00015630156091823167,0.0031934794690614784,-0.0034292989427697,0.0029336110751946513,0.00015630110892016612,0.0031978493863828736,-0.003437996890129411],"tcp_position_m":[0.08125537448665951,0.4772357226218205,0.43499999999683153],"tcp_quaternion_wxyz":[-8.27062364923103e-13,0.7071067811866494,0.7071067811864451,2.0981641974994977e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994192,-1.9221898588942345e-15,1.2609263237497123e-16,1.0779796240084115e-06],"object_linear_velocity_m_s":[-1.752869985643546e-16,-2.6621521622959604e-15,1.3463643338661657e-14],"object_angular_velocity_rad_s":[3.8188116537468357e-14,-2.3344854914744728e-15,3.253259871942585e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279454,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298993,-1.6109718312029992,1.3254580468026216,-1.3097463880168758,-1.570795108424288,-0.4491079361950343,0.0],"actuator_force":[-6.821210263296962e-10,-18.988043948531867,-20.286344740378354,-2.4133256392506155,0.0006091846923936828,-1.3926637620897964e-12,-0.29336111306662505],"issued_joint_targets_rad":[-2.0199042629899293,-1.6014778092287516,1.3356012191728377,-1.3049197367390601,-1.570796326794888,-0.4491079361950333],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.799999999996682,"joint_targets_rad":[-2.0199042629899293,-1.6014778092287516,1.3356012191728377,-1.3049197367390601,-1.570796326794888,-0.4491079361950333],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.819999999996671,"qpos":[-2.019904262990358,-1.6014778092334507,1.3356012191859727,-1.304919736751519,-1.5707963267947531,-0.44910793619519407,0.0029336111710898606,0.00015630155791717884,0.003193479471050523,-0.0034292989412253593,0.0029336110747223013,0.00015630111106442707,0.0031978493843981674,-0.0034379968906487765,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999419,-1.6920660914463629e-15,1.0398588842741191e-16,1.0783827400156373e-06],"qvel":[2.2801642902457734e-12,2.360508600672282e-11,-6.661995109194442e-11,6.470035960208112e-11,4.545006746378305e-12,8.203298713648556e-13,-1.8043927809490213e-10,-6.225786481625293e-10,7.010719243723905e-10,5.059380274161461e-11,3.417732212409666e-10,3.845015205340254e-10,-2.1417622961792058e-10,-1.4970524528997895e-10,-1.6722197955910182e-16,-2.8048657437623022e-15,1.3426173311580557e-14,-1.1085759389382011e-14,-6.773420692995604e-16,5.939630975729921e-08],"joint_position_rad":[-2.019904262990358,-1.6014778092334507,1.3356012191859727,-1.304919736751519,-1.5707963267947531,-0.44910793619519407],"joint_velocity_rad_s":[2.2801642902457734e-12,2.360508600672282e-11,-6.661995109194442e-11,6.470035960208112e-11,4.545006746378305e-12,8.203298713648556e-13],"linkage_position_rad":[0.0029336111710898606,0.00015630155791717884,0.003193479471050523,-0.0034292989412253593,0.0029336110747223013,0.00015630111106442707,0.0031978493843981674,-0.0034379968906487765],"tcp_position_m":[0.0812553744866549,0.4772357226218324,0.434999999997138],"tcp_quaternion_wxyz":[-7.443090279783024e-13,0.7071067811866418,0.7071067811864529,1.9119126024529924e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999419,-1.6920660914463629e-15,1.0398588842741191e-16,1.0783827400156373e-06],"object_linear_velocity_m_s":[-1.6722197955910182e-16,-2.8048657437623022e-15,1.3426173311580557e-14],"object_angular_velocity_rad_s":[-1.1085757916135705e-14,-6.773657776761799e-16,5.9396309757299263e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221275815,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899293,-1.6109718312029995,1.3254580468026107,-1.309746388016861,-1.5707951084242886,-0.4491079361950333,0.0],"actuator_force":[-5.502442945726216e-11,-18.988043948539598,-20.286344740075947,-2.4133256391409077,0.0006091847777724979,-1.6484591469634324e-12,-0.29336111309727786],"issued_joint_targets_rad":[-2.0199042629899284,-1.601477809228744,1.3356012191728257,-1.304919736739048,-1.5707963267948888,-0.4491079361950321],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.819999999996671,"joint_targets_rad":[-2.0199042629899284,-1.601477809228744,1.3356012191728257,-1.304919736739048,-1.5707963267948888,-0.4491079361950321],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.83999999999666,"qpos":[-2.0199042629903174,-1.601477809233002,1.335601219184711,-1.3049197367503294,-1.5707963267947724,-0.4491079361951786,0.002933611171609858,0.00015630156058028254,0.0031934794682620224,-0.003429298941611228,0.002933611074035915,0.0001563011093392678,0.003197849385947065,-0.0034379968903033974,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994189,-1.319061752125074e-15,7.706373918501324e-17,1.0786590481459514e-06],"qvel":[-4.290886893096257e-12,2.1456300191865922e-11,-6.20145779137389e-11,4.404546689542653e-11,-2.776152385579093e-11,7.137292388739269e-13,-2.235658530727137e-09,-1.271175924609708e-08,1.196307797340751e-08,1.1582861201041962e-09,1.5134135766294618e-09,8.272944301344037e-09,-8.03402637551985e-09,-5.942579864183802e-10,-2.0167498149788778e-16,-3.1495605325649376e-15,1.3664871261874967e-14,-6.628278762660366e-14,5.2400052496699325e-15,1.0844266218059088e-07],"joint_position_rad":[-2.0199042629903174,-1.601477809233002,1.335601219184711,-1.3049197367503294,-1.5707963267947724,-0.4491079361951786],"joint_velocity_rad_s":[-4.290886893096257e-12,2.1456300191865922e-11,-6.20145779137389e-11,4.404546689542653e-11,-2.776152385579093e-11,7.137292388739269e-13],"linkage_position_rad":[0.002933611171609858,0.00015630156058028254,0.0031934794682620224,-0.003429298941611228,0.002933611074035915,0.0001563011093392678,0.003197849385947065,-0.0034379968903033974],"tcp_position_m":[0.08125537448664451,0.47723572262184305,0.43499999999741334],"tcp_quaternion_wxyz":[-6.72941751576549e-13,0.7071067811866331,0.7071067811864616,1.736982392040074e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994189,-1.319061752125074e-15,7.706373918501324e-17,1.0786590481459514e-06],"object_linear_velocity_m_s":[-2.0167498149788778e-16,-3.1495605325649376e-15,1.3664871261874967e-14],"object_angular_velocity_rad_s":[-6.628279891409397e-14,5.23986254268568e-15,1.0844266218059103e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221285787,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899284,-1.6109718312029992,1.325458046802601,-1.3097463880168476,-1.57079510842429,-0.4491079361950321,0.0],"actuator_force":[2.4942892196122557e-09,-18.988043948576887,-20.28634473941429,-2.413325637663661,0.0006091880173926256,1.8758328224066645e-12,-0.2933611086710639],"issued_joint_targets_rad":[-2.0199042629899275,-1.6014778092287376,1.3356012191728142,-1.3049197367390368,-1.5707963267948895,-0.44910793619503164],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.83999999999666,"joint_targets_rad":[-2.0199042629899275,-1.6014778092287376,1.3356012191728142,-1.3049197367390368,-1.5707963267948895,-0.44910793619503164],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.85999999999665,"qpos":[-2.0199042629902753,-1.6014778092325952,1.3356012191835702,-1.30491973674924,-1.5707963267947613,-0.4491079361951646,0.0029336111718550398,0.00015630156528371127,0.0031934794648794344,-0.0034292989431761755,0.002933611074478142,0.00015630110612116583,0.0031978493889777133,-0.0034379968898203338,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994178,-1.1633613540533312e-15,7.148962662136501e-17,1.0790703969946273e-06],"qvel":[3.4597733843660633e-12,1.9390765693199386e-11,-5.370157393657856e-11,5.3858346791218306e-11,3.9705433640768156e-12,6.738022662009573e-13,9.484552754376898e-10,4.7748743157777946e-09,-4.664728274564145e-09,-3.338189274045165e-10,-8.418664346615451e-10,-3.075177550634951e-09,2.893998075315093e-09,2.851481410078578e-10,-9.036382782945556e-17,-1.461898918071851e-15,1.35649511896587e-14,4.8946314110859024e-14,-2.8499880580671034e-15,1.1748874392146123e-08],"joint_position_rad":[-2.0199042629902753,-1.6014778092325952,1.3356012191835702,-1.30491973674924,-1.5707963267947613,-0.4491079361951646],"joint_velocity_rad_s":[3.4597733843660633e-12,1.9390765693199386e-11,-5.370157393657856e-11,5.3858346791218306e-11,3.9705433640768156e-12,6.738022662009573e-13],"linkage_position_rad":[0.0029336111718550398,0.00015630156528371127,0.0031934794648794344,-0.0034292989431761755,0.002933611074478142,0.00015630110612116583,0.0031978493889777133,-0.0034379968898203338],"tcp_position_m":[0.0812553744866246,0.4772357226218535,0.4349999999976608],"tcp_quaternion_wxyz":[-6.195538072797859e-13,0.7071067811866232,0.7071067811864713,1.567505884720857e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994178,-1.1633613540533312e-15,7.148962662136501e-17,1.0790703969946273e-06],"object_linear_velocity_m_s":[-9.036382782945556e-17,-1.461898918071851e-15,1.35649511896587e-14],"object_angular_velocity_rad_s":[4.894632026310034e-14,-2.849882397686894e-15,1.1748874392146123e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221292374,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899275,-1.6109718312029992,1.3254580468025916,-1.3097463880168352,-1.5707951084242904,-0.44910793619503164,0.0],"actuator_force":[-6.880327418912202e-10,-18.988043948564155,-20.286344740477034,-2.4133256391834266,0.0006091848383675824,-9.094947017729282e-13,-0.29336111284960326],"issued_joint_targets_rad":[-2.019904262989927,-1.6014778092287318,1.3356012191728046,-1.3049197367390268,-1.5707963267948901,-0.4491079361950315],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.85999999999665,"joint_targets_rad":[-2.019904262989927,-1.6014778092287318,1.3356012191728046,-1.3049197367390268,-1.5707963267948901,-0.4491079361950315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.879999999996638,"qpos":[-2.0199042629902477,-1.6014778092322266,1.3356012191825348,-1.3049197367482714,-1.5707963267947882,-0.4491079361951519,0.002933611171271136,0.00015630155951338302,0.003193479469668996,-0.0034292989414576288,0.002933611074734355,0.00015630111001345136,0.003197849385472175,-0.003437996890605549,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994177,-1.0659986533281024e-15,7.778639065107255e-17,1.0795371019542885e-06],"qvel":[2.9529332455126743e-12,1.7538958968797195e-11,-4.8835326763019146e-11,4.981855004304691e-11,6.762519092088961e-12,6.163674462161387e-13,3.014512188943184e-10,2.036206390618489e-09,-1.8932185213612024e-09,-1.700639935799446e-10,-1.0855658700694715e-10,-1.3304196352615537e-09,1.3699281959187288e-09,2.432296036864496e-11,-1.0115125729260537e-16,-1.38607473081268e-15,1.3360947708883824e-14,3.3489610756959874e-14,-1.7442134876569878e-15,2.1450477679759577e-08],"joint_position_rad":[-2.0199042629902477,-1.6014778092322266,1.3356012191825348,-1.3049197367482714,-1.5707963267947882,-0.4491079361951519],"joint_velocity_rad_s":[2.9529332455126743e-12,1.7538958968797195e-11,-4.8835326763019146e-11,4.981855004304691e-11,6.762519092088961e-12,6.163674462161387e-13],"linkage_position_rad":[0.002933611171271136,0.00015630155951338302,0.003193479469668996,-0.0034292989414576288,0.002933611074734355,0.00015630111001345136,0.003197849385472175,-0.003437996890605549],"tcp_position_m":[0.08125537448662216,0.47723572262186215,0.43499999999788785],"tcp_quaternion_wxyz":[-5.571917945285387e-13,0.7071067811866177,0.7071067811864765,1.4294103418048994e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994177,-1.0659986533281024e-15,7.778639065107255e-17,1.0795371019542885e-06],"object_linear_velocity_m_s":[-1.0115125729260537e-16,-1.38607473081268e-15,1.3360947708883824e-14],"object_angular_velocity_rad_s":[3.3489614526105245e-14,-1.7441411353658752e-15,2.145047767975959e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221278916,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989927,-1.6109718312029995,1.3254580468025838,-1.3097463880168243,-1.570795108424291,-0.4491079361950315,0.0],"actuator_force":[-5.397851055022329e-10,-18.988043948561426,-20.286344740367895,-2.413325639258346,0.0006091845723403821,-1.4495071809506044e-12,-0.29336111326474773],"issued_joint_targets_rad":[-2.019904262989926,-1.601477809228726,1.3356012191727957,-1.3049197367390186,-1.570796326794891,-0.4491079361950306],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.879999999996638,"joint_targets_rad":[-2.019904262989926,-1.601477809228726,1.3356012191727957,-1.3049197367390186,-1.570796326794891,-0.4491079361950306],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.899999999996627,"qpos":[-2.0199042629902206,-1.6014778092318929,1.3356012191815994,-1.304919736747394,-1.5707963267948142,-0.4491079361951403,0.002933611170471742,0.00015630155470761322,0.0031934794740969517,-0.0034292989412634933,0.0029336110751271823,0.0001563011130916398,0.0031978493824642387,-0.003437996890645328,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994175,-9.696796340695276e-16,7.031540014309966e-17,1.0799938380687432e-06],"qvel":[-7.651977991889488e-13,1.5931041693003054e-11,-4.559781248124368e-11,3.991435607737265e-11,-3.753935079013409e-12,5.549339250853692e-13,-1.0211809758636997e-09,-5.44394266658505e-09,5.333787232116616e-09,4.140921445507866e-10,9.762450121807299e-10,3.4915851141183865e-09,-3.2060885771474353e-09,-3.5945303224711284e-10,-9.789704177088632e-17,-1.3851334532837034e-15,1.3527481162577593e-14,1.3652866787473634e-14,-1.3598954542188361e-15,3.9163155322985784e-08],"joint_position_rad":[-2.0199042629902206,-1.6014778092318929,1.3356012191815994,-1.304919736747394,-1.5707963267948142,-0.4491079361951403],"joint_velocity_rad_s":[-7.651977991889488e-13,1.5931041693003054e-11,-4.559781248124368e-11,3.991435607737265e-11,-3.753935079013409e-12,5.549339250853692e-13],"linkage_position_rad":[0.002933611170471742,0.00015630155470761322,0.0031934794740969517,-0.0034292989412634933,0.0029336110751271823,0.0001563011130916398,0.0031978493824642387,-0.003437996890645328],"tcp_position_m":[0.08125537448661938,0.47723572262187003,0.43499999999809214],"tcp_quaternion_wxyz":[-4.993378826237625e-13,0.7071067811866124,0.7071067811864823,1.3036634360992313e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994175,-9.696796340695276e-16,7.031540014309966e-17,1.0799938380687432e-06],"object_linear_velocity_m_s":[-9.789704177088632e-17,-1.3851334532837034e-15,1.3527481162577593e-14],"object_angular_velocity_rad_s":[1.365286973030669e-14,-1.3598658882402263e-15,3.916315532298584e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221267128,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989926,-1.610971831202999,1.3254580468025767,-1.309746388016815,-1.570795108424292,-0.4491079361950306,0.0],"actuator_force":[8.949427865445614e-10,-18.988043948584618,-20.28634473980628,-2.413325638701963,0.0006091856364491832,-6.536993168992922e-13,-0.2933611120552664],"issued_joint_targets_rad":[-2.0199042629899258,-1.6014778092287216,1.335601219172788,-1.30491973673901,-1.5707963267948912,-0.44910793619502987],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.899999999996627,"joint_targets_rad":[-2.0199042629899258,-1.6014778092287216,1.335601219172788,-1.30491973673901,-1.5707963267948912,-0.44910793619502987],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.919999999996616,"qpos":[-2.0199042629901856,-1.6014778092315902,1.3356012191807558,-1.3049197367465801,-1.570796326794796,-0.44910793619512973,0.002933611174528505,0.0001563015747471815,0.003193479454087117,-0.003429298941702335,0.0029336110717977765,0.0001563011002301987,0.003197849395096028,-0.003437996890141169,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994174,-8.082716080474788e-16,6.335370665289019e-17,1.0803549914114627e-06],"qvel":[2.7984099510056307e-12,1.4419119751031818e-11,-3.9665302864341934e-11,3.9969722166838084e-11,2.7010348918018895e-12,5.0478694791431e-13,9.094247490177603e-10,4.324004837340467e-09,-4.304223412635224e-09,-2.4541000833332565e-10,-8.435211095448935e-10,-2.806425361756902e-09,2.6680374723363567e-09,2.397798899244806e-10,-1.2947381829761165e-16,-1.4596853931790121e-15,1.3789771352145286e-14,-1.1982454547257394e-14,2.547935411685067e-15,7.150203169131835e-08],"joint_position_rad":[-2.0199042629901856,-1.6014778092315902,1.3356012191807558,-1.3049197367465801,-1.570796326794796,-0.44910793619512973],"joint_velocity_rad_s":[2.7984099510056307e-12,1.4419119751031818e-11,-3.9665302864341934e-11,3.9969722166838084e-11,2.7010348918018895e-12,5.0478694791431e-13],"linkage_position_rad":[0.002933611174528505,0.0001563015747471815,0.003193479454087117,-0.003429298941702335,0.0029336110717977765,0.0001563011002301987,0.003197849395096028,-0.003437996890141169],"tcp_position_m":[0.08125537448659985,0.47723572262187747,0.4349999999982732],"tcp_quaternion_wxyz":[-4.629314193373606e-13,0.7071067811866039,0.7071067811864908,1.171758038333596e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994174,-8.082716080474788e-16,6.335370665289019e-17,1.0803549914114627e-06],"object_linear_velocity_m_s":[-1.2947381829761165e-16,-1.4596853931790121e-15,1.3789771352145286e-14],"object_angular_velocity_rad_s":[-1.1982460043519211e-14,2.5479096366560988e-15,7.150203169131848e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221325373,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899258,-1.6109718312029995,1.3254580468025705,-1.3097463880168057,-1.5707951084242926,-0.44910793619502987,0.0],"actuator_force":[-5.998117558192462e-10,-18.988043948585982,-20.28634474050432,-2.4133256391097575,0.0006091849816129979,-5.400124791776761e-13,-0.29336111264583226],"issued_joint_targets_rad":[-2.019904262989925,-1.6014778092287167,1.3356012191727797,-1.3049197367390024,-1.570796326794892,-0.44910793619502914],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.919999999996616,"joint_targets_rad":[-2.019904262989925,-1.6014778092287167,1.3356012191727797,-1.3049197367390024,-1.570796326794892,-0.44910793619502914],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.939999999996605,"qpos":[-2.0199042629901647,-1.601477809231316,1.3356012191799884,-1.3049197367458607,-1.5707963267948135,-0.44910793619512007,0.002933611172143355,0.00015630156333499662,0.003193479465442671,-0.003429298941315895,0.002933611074008509,0.00015630110754535215,0.003197849388234144,-0.003437996890669961,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994162,-6.207377519827233e-16,5.375833229874882e-17,1.0806262156494403e-06],"qvel":[3.045391583871956e-12,1.3044184229412544e-11,-3.578312966084733e-11,3.780731934805041e-11,6.248720088590971e-12,4.648809476084687e-13,5.896556027678492e-10,3.508789672680644e-09,-3.320792821465505e-09,-3.2656463012915774e-10,-4.263653831092881e-10,-2.2793988174283392e-09,2.1854787949452773e-09,1.7296991201015785e-10,-6.641557645169587e-17,-7.769313042115775e-16,1.3261027636667555e-14,2.952078350909832e-14,-2.415544677046858e-15,7.746659591645051e-09],"joint_position_rad":[-2.0199042629901647,-1.601477809231316,1.3356012191799884,-1.3049197367458607,-1.5707963267948135,-0.44910793619512007],"joint_velocity_rad_s":[3.045391583871956e-12,1.3044184229412544e-11,-3.578312966084733e-11,3.780731934805041e-11,6.248720088590971e-12,4.648809476084687e-13],"linkage_position_rad":[0.002933611172143355,0.00015630156333499662,0.003193479465442671,-0.003429298941315895,0.002933611074008509,0.00015630110754535215,0.003197849388234144,-0.003437996890669961],"tcp_position_m":[0.08125537448659721,0.4772357226218844,0.4349999999984406],"tcp_quaternion_wxyz":[-4.1733912613520125e-13,0.7071067811865996,0.7071067811864948,1.0679419078885405e-12],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994162,-6.207377519827233e-16,5.375833229874882e-17,1.0806262156494403e-06],"object_linear_velocity_m_s":[-6.641557645169587e-17,-7.769313042115775e-16,1.3261027636667555e-14],"object_angular_velocity_rad_s":[2.9520788730464076e-14,-2.4154808655587953e-15,7.746659591645053e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290248,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989925,-1.610971831202999,1.3254580468025636,-1.3097463880167972,-1.570795108424293,-0.44910793619502914,0.0],"actuator_force":[-7.389644451905042e-10,-18.98804394858371,-20.286344740536606,-2.413325639249024,0.0006091846354365771,-1.0231815394945443e-12,-0.2933611131240443],"issued_joint_targets_rad":[-2.019904262989925,-1.601477809228713,1.3356012191727729,-1.304919736738995,-1.5707963267948923,-0.4491079361950286],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.939999999996605,"joint_targets_rad":[-2.019904262989925,-1.601477809228713,1.3356012191727729,-1.304919736738995,-1.5707963267948923,-0.4491079361950286],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.959999999996594,"qpos":[-2.019904262990147,-1.6014778092310675,1.3356012191792948,-1.3049197367452123,-1.570796326794837,-0.4491079361951113,0.0029336111701626704,0.00015630155360671328,0.003193479475320065,-0.003429298941319096,0.002933611075613699,0.0001563011136858243,0.00319784938206691,-0.0034379968907896443,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999416,-5.610823113248379e-16,6.310683129161465e-17,1.0811214026153394e-06],"qvel":[1.33121725673627e-12,1.1814670045117358e-11,-3.316295630313356e-11,3.348035864478274e-11,5.433058761840558e-12,4.268086804718046e-13,-2.418553874602783e-10,-7.732951828104545e-10,9.277057770914608e-10,-2.303144031909309e-11,4.217286895548004e-10,4.6566113930877483e-10,-3.137482078249281e-10,-1.2868649993928377e-10,-7.768211379614698e-17,-7.086746749160442e-16,1.3385927726937885e-14,2.3116375507177375e-14,-1.930892958571518e-15,1.4143444139155635e-08],"joint_position_rad":[-2.019904262990147,-1.6014778092310675,1.3356012191792948,-1.3049197367452123,-1.570796326794837,-0.4491079361951113],"joint_velocity_rad_s":[1.33121725673627e-12,1.1814670045117358e-11,-3.316295630313356e-11,3.348035864478274e-11,5.433058761840558e-12,4.268086804718046e-13],"linkage_position_rad":[0.0029336111701626704,0.00015630155360671328,0.003193479475320065,-0.003429298941319096,0.002933611075613699,0.0001563011136858243,0.00319784938206691,-0.0034379968907896443],"tcp_position_m":[0.0812553744865977,0.47723572262189007,0.4349999999985921],"tcp_quaternion_wxyz":[-3.726419594474619e-13,0.7071067811865966,0.7071067811864978,9.758718096836923e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999416,-5.610823113248379e-16,6.310683129161465e-17,1.0811214026153394e-06],"object_linear_velocity_m_s":[-7.768211379614698e-17,-7.086746749160442e-16,1.3385927726937885e-14],"object_angular_velocity_rad_s":[2.3116379683967843e-14,-1.930842959479108e-15,1.4143444139155649e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221261281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989925,-1.6109718312029992,1.325458046802558,-1.3097463880167892,-1.5707951084242933,-0.4491079361950286,0.0],"actuator_force":[-8.86757334228605e-11,-18.988043948589166,-20.28634474020828,-2.4133256391365876,0.000609184728659784,-1.3358203432289883e-12,-0.29336111318818503],"issued_joint_targets_rad":[-2.019904262989924,-1.6014778092287094,1.3356012191727675,-1.30491973673899,-1.5707963267948928,-0.44910793619502826],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.959999999996594,"joint_targets_rad":[-2.019904262989924,-1.6014778092287094,1.3356012191727675,-1.30491973673899,-1.5707963267948928,-0.44910793619502826],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.979999999996583,"qpos":[-2.019904262990125,-1.6014778092308426,1.3356012191786686,-1.3049197367446213,-1.57079632679485,-0.4491079361951035,0.0029336111719784376,0.0001563015603103362,0.003193479467710059,-0.003429298940544237,0.0029336110735832086,0.0001563011095429419,0.00319784938615436,-0.0034379968908001737,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994159,-4.562738026350621e-16,6.960113122943472e-17,1.081561365237776e-06],"qvel":[-5.505758208093915e-12,1.0765993055177142e-11,-3.1853784221306724e-11,1.491669590347017e-11,-2.8830883506569464e-11,3.5250878550449163e-13,-2.462914136927643e-09,-1.413304709985536e-08,1.3250333102906595e-08,1.222070697254588e-09,1.6913551610756969e-09,9.16441572605594e-09,-8.78587494778816e-09,-6.566698974599653e-10,-9.172707653928338e-17,-6.104188726185311e-16,1.3657932367971048e-14,1.511892975637442e-14,-1.1380133882595911e-15,2.5822357333630336e-08],"joint_position_rad":[-2.019904262990125,-1.6014778092308426,1.3356012191786686,-1.3049197367446213,-1.57079632679485,-0.4491079361951035],"joint_velocity_rad_s":[-5.505758208093915e-12,1.0765993055177142e-11,-3.1853784221306724e-11,1.491669590347017e-11,-2.8830883506569464e-11,3.5250878550449163e-13],"linkage_position_rad":[0.0029336111719784376,0.0001563015603103362,0.003193479467710059,-0.003429298940544237,0.0029336110735832086,0.0001563011095429419,0.00319784938615436,-0.0034379968908001737],"tcp_position_m":[0.08125537448659265,0.4772357226218955,0.43499999999872774],"tcp_quaternion_wxyz":[-3.3531346017145834e-13,0.7071067811865916,0.7071067811865026,8.884731043660158e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994159,-4.562738026350621e-16,6.960113122943472e-17,1.081561365237776e-06],"object_linear_velocity_m_s":[-9.172707653928338e-17,-6.104188726185311e-16,1.3657932367971048e-14],"object_angular_velocity_rad_s":[1.5118932221596206e-14,-1.1379806605921798e-15,2.5822357333630375e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286508,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989924,-1.6109718312029995,1.3254580468025539,-1.3097463880167837,-1.5707951084242944,-0.44910793619502826,0.0],"actuator_force":[2.60433807852678e-09,-18.98804394862009,-20.28634473948796,-2.413325637572825,0.0006091881608654148,2.3874235921539366e-12,-0.2933611084202874],"issued_joint_targets_rad":[-2.0199042629899235,-1.6014778092287059,1.3356012191727615,-1.304919736738984,-1.5707963267948932,-0.44910793619502803],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.979999999996583,"joint_targets_rad":[-2.0199042629899235,-1.6014778092287059,1.3356012191727615,-1.304919736738984,-1.5707963267948932,-0.44910793619502803],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":15.999999999996572,"qpos":[-2.019904262990102,-1.601477809230639,1.3356012191781028,-1.3049197367440726,-1.570796326794831,-0.4491079361950962,0.0029336111728424,0.00015630156723781482,0.0031934794617441867,-0.003429298941735403,0.0029336110734314515,0.0001563011049772221,0.0031978493906319777,-0.003437996890417555,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994147,-3.8623076692016414e-16,6.033295168243591e-17,1.0819835429616765e-06],"qvel":[2.7737985523607764e-12,9.706325094817773e-12,-2.625796357358312e-11,2.8358014788488345e-11,4.804482042216786e-12,3.470455844227843e-13,8.109564931052173e-10,4.324112479074925e-09,-4.1839366688560015e-09,-3.460616863447324e-10,-6.938875176263592e-10,-2.7965731495577646e-09,2.6397622762054833e-09,2.4801850008084835e-10,-8.798612691342482e-17,-5.882914679629609e-16,1.3648217916505578e-14,3.777904988155231e-15,-8.926484913183091e-16,4.714510353384355e-08],"joint_position_rad":[-2.019904262990102,-1.601477809230639,1.3356012191781028,-1.3049197367440726,-1.570796326794831,-0.4491079361950962],"joint_velocity_rad_s":[2.7737985523607764e-12,9.706325094817773e-12,-2.625796357358312e-11,2.8358014788488345e-11,4.804482042216786e-12,3.470455844227843e-13],"linkage_position_rad":[0.0029336111728424,0.00015630156723781482,0.0031934794617441867,-0.003429298941735403,0.0029336110734314515,0.0001563011049772221,0.0031978493906319777,-0.003437996890417555],"tcp_position_m":[0.08125537448657784,0.47723572262190084,0.4349999999988487],"tcp_quaternion_wxyz":[-3.1345899728978704e-13,0.7071067811865859,0.7071067811865086,7.974049090841134e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994147,-3.8623076692016414e-16,6.033295168243591e-17,1.0819835429616765e-06],"object_linear_velocity_m_s":[-8.798612691342482e-17,-5.882914679629609e-16,1.3648217916505578e-14],"object_angular_velocity_rad_s":[3.777906925497107e-15,-8.926402796363858e-16,4.714510353384355e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221301149,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899235,-1.6109718312029992,1.325458046802549,-1.309746388016777,-1.5707951084242944,-0.44910793619502803,0.0],"actuator_force":[-7.526068657170981e-10,-18.988043948603263,-20.286344740604363,-2.413325639187974,0.0006091847878906265,-6.252776074688882e-13,-0.2933611128990375],"issued_joint_targets_rad":[-2.0199042629899235,-1.6014778092287028,1.3356012191727564,-1.3049197367389787,-1.5707963267948934,-0.44910793619502726],"issued_gripper_0_255":0.0,"command":{"t_seconds":15.999999999996572,"joint_targets_rad":[-2.0199042629899235,-1.6014778092287028,1.3356012191727564,-1.3049197367389787,-1.5707963267948934,-0.44910793619502726],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.019999999996596,"qpos":[-2.0199042629900887,-1.601477809230454,1.3356012191775881,-1.304919736743592,-1.5707963267948495,-0.4491079361950896,0.002933611170314918,0.000156301555238317,0.0031934794739926554,-0.003429298941641528,0.0029336110756767292,0.00015630111258721564,0.0031978493831535666,-0.0034379968907245835,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994146,-2.9316245778226056e-16,4.5681653056057564e-17,1.0822986601463658e-06],"qvel":[2.347093293082907e-12,8.770904644637465e-12,-2.4002331814279955e-11,2.6814810533343544e-11,7.708017592111068e-12,3.2379478000362997e-13,2.825091478481096e-10,2.1279487726488106e-09,-1.9014060954121754e-09,-2.560468635889355e-10,-6.798507206674734e-11,-1.389987055737208e-09,1.3968673291129204e-09,5.754008807158827e-11,-8.972239921724398e-17,-5.422992999018431e-16,1.3308212115214125e-14,-2.0528351048611022e-15,6.590796129571531e-16,8.607505343138449e-08],"joint_position_rad":[-2.0199042629900887,-1.601477809230454,1.3356012191775881,-1.304919736743592,-1.5707963267948495,-0.4491079361950896],"joint_velocity_rad_s":[2.347093293082907e-12,8.770904644637465e-12,-2.4002331814279955e-11,2.6814810533343544e-11,7.708017592111068e-12,3.2379478000362997e-13],"linkage_position_rad":[0.002933611170314918,0.000156301555238317,0.0031934794739926554,-0.003429298941641528,0.0029336110756767292,0.00015630111258721564,0.0031978493831535666,-0.0034379968907245835],"tcp_position_m":[0.08125537448657848,0.47723572262190533,0.4349999999989609],"tcp_quaternion_wxyz":[-2.799615978820003e-13,0.7071067811865838,0.7071067811865109,7.29215615982242e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994146,-2.9316245778226056e-16,4.5681653056057564e-17,1.0822986601463658e-06],"object_linear_velocity_m_s":[-8.972239921724398e-17,-5.422992999018431e-16,1.3308212115214125e-14],"object_angular_velocity_rad_s":[-2.0528365236342115e-15,6.590752198621993e-16,8.607505343138452e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221264094,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899235,-1.610971831202999,1.3254580468025448,-1.309746388016771,-1.5707951084242944,-0.44910793619502726,0.0],"actuator_force":[-6.089067028369755e-10,-18.98804394859826,-20.286344740485674,-2.413325639271079,0.0006091845067430768,-1.1937117960769683e-12,-0.2933611133722027],"issued_joint_targets_rad":[-2.019904262989923,-1.6014778092287003,1.3356012191727527,-1.3049197367389747,-1.570796326794894,-0.44910793619502687],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.019999999996596,"joint_targets_rad":[-2.019904262989923,-1.6014778092287003,1.3356012191727527,-1.3049197367389747,-1.570796326794894,-0.44910793619502687],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.03999999999662,"qpos":[-2.019904262990077,-1.6014778092302866,1.3356012191771236,-1.304919736743159,-1.5707963267948724,-0.4491079361950836,0.002933611170683172,0.0001563015535818918,0.0031934794743504365,-0.0034292989401951486,0.0029336110748328934,0.0001563011138365983,0.0031978493822139094,-0.00343799689118745,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994146,-2.173111443982716e-16,3.5497433745277266e-17,1.0826251633270965e-06],"qvel":[-1.5038881956447945e-12,7.976331268514867e-12,-2.3218717090827848e-11,1.878018268049794e-11,-3.475675442142865e-12,2.8730560053471173e-13,-1.1807175894198365e-09,-6.2986096204153985e-09,6.1546577999463e-09,4.1200189154162816e-10,1.1363212270144702e-09,4.025890832784417e-09,-3.6509345166680207e-09,-4.0075872705723233e-10,-4.4802516712352516e-17,-2.779338500730123e-16,1.3538583392823847e-14,1.0853712537681534e-14,-1.5605481634195257e-15,9.325527156265297e-09],"joint_position_rad":[-2.019904262990077,-1.6014778092302866,1.3356012191771236,-1.304919736743159,-1.5707963267948724,-0.4491079361950836],"joint_velocity_rad_s":[-1.5038881956447945e-12,7.976331268514867e-12,-2.3218717090827848e-11,1.878018268049794e-11,-3.475675442142865e-12,2.8730560053471173e-13],"linkage_position_rad":[0.002933611170683172,0.0001563015535818918,0.0031934794743504365,-0.0034292989401951486,0.0029336110748328934,0.0001563011138365983,0.0031978493822139094,-0.00343799689118745],"tcp_position_m":[0.08125537448658064,0.4772357226219089,0.4349999999990618],"tcp_quaternion_wxyz":[-2.46779309567688e-13,0.7071067811865818,0.7071067811865129,6.688362420115305e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994146,-2.173111443982716e-16,3.5497433745277266e-17,1.0826251633270965e-06],"object_linear_velocity_m_s":[-4.4802516712352516e-17,-2.779338500730123e-16,1.3538583392823847e-14],"object_angular_velocity_rad_s":[1.0853715917295585e-14,-1.5605246583581692e-15,9.32552715626531e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221265249,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989923,-1.6109718312029992,1.3254580468025419,-1.3097463880167666,-1.570795108424295,-0.44910793619502687,0.0],"actuator_force":[9.094947017729282e-10,-18.988043948615996,-20.286344739875858,-2.4133256386817266,0.0006091856362218095,-3.694822225952521e-13,-0.2933611120538215],"issued_joint_targets_rad":[-2.0199042629899226,-1.6014778092286979,1.3356012191727482,-1.3049197367389704,-1.5707963267948943,-0.4491079361950265],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.03999999999662,"joint_targets_rad":[-2.0199042629899226,-1.6014778092286979,1.3356012191727482,-1.3049197367389704,-1.5707963267948943,-0.4491079361950265],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.059999999996645,"qpos":[-2.0199042629900545,-1.601477809230135,1.335601219176706,-1.3049197367427445,-1.5707963267948453,-0.4491079361950781,0.0029336111736899526,0.00015630157151851035,0.0031934794576111707,-0.0034292989421179356,0.002933611072661853,0.0001563011022053073,0.0031978493932072263,-0.00343799689011585,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994145,-1.9706927416328824e-16,2.2840853853060877e-17,1.0830959529357738e-06],"qvel":[2.3302387734994266e-12,7.224540097693759e-12,-1.9310625356340682e-11,2.104563006252153e-11,3.2387582258813282e-12,2.6151432687342675e-13,9.553674524402235e-10,4.654413676437971e-09,-4.579168184450451e-09,-3.1502732367861296e-10,-8.811912966706902e-10,-3.0073601419153434e-09,2.8242990743228583e-09,2.830567451551139e-10,-3.0536242963266126e-17,-2.5275313156907347e-16,1.3896630318265458e-14,7.010755753813044e-15,-1.2437117115247424e-15,1.7026057598435674e-08],"joint_position_rad":[-2.0199042629900545,-1.601477809230135,1.335601219176706,-1.3049197367427445,-1.5707963267948453,-0.4491079361950781],"joint_velocity_rad_s":[2.3302387734994266e-12,7.224540097693759e-12,-1.9310625356340682e-11,2.104563006252153e-11,3.2387582258813282e-12,2.6151432687342675e-13],"linkage_position_rad":[0.0029336111736899526,0.00015630157151851035,0.0031934794576111707,-0.0034292989421179356,0.002933611072661853,0.0001563011022053073,0.0031978493932072263,-0.00343799689011585],"tcp_position_m":[0.08125537448656323,0.477235722621913,0.4349999999991495],"tcp_quaternion_wxyz":[-2.3485582726657225e-13,0.7071067811865757,0.707106781186519,5.942374967950555e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994145,-1.9706927416328824e-16,2.2840853853060877e-17,1.0830959529357738e-06],"object_linear_velocity_m_s":[-3.0536242963266126e-17,-2.5275313156907347e-16,1.3896630318265458e-14],"object_angular_velocity_rad_s":[7.010758448692624e-15,-1.2436965181688325e-15,1.7026057598435707e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313786,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899226,-1.6109718312029992,1.325458046802538,-1.309746388016762,-1.5707951084242957,-0.4491079361950265,0.0],"actuator_force":[-6.684786058031023e-10,-18.988043948618724,-20.286344740611185,-2.413325639113282,0.0006091849509175518,-3.410605131648481e-13,-0.29336111268847104],"issued_joint_targets_rad":[-2.0199042629899226,-1.601477809228696,1.335601219172745,-1.3049197367389669,-1.5707963267948941,-0.44910793619502654],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.059999999996645,"joint_targets_rad":[-2.0199042629899226,-1.601477809228696,1.335601219172745,-1.3049197367389669,-1.5707963267948941,-0.44910793619502654],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.07999999999667,"qpos":[-2.0199042629900457,-1.601477809229998,1.3356012191763242,-1.3049197367423888,-1.5707963267948581,-0.4491079361950732,0.0029336111708268453,0.00015630155858868496,0.003193479470934083,-0.003429298942070631,0.0029336110753459843,0.00015630111040734155,0.0031978493852198734,-0.003437996890519898,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994131,-1.6567272202488117e-16,-1.1680623740842358e-18,1.083563592971149e-06],"qvel":[2.6546786221656307e-12,6.516651535645846e-12,-1.7355073213595358e-11,2.081267998775694e-11,7.068273942062873e-12,2.4189156198854296e-13,6.395256633075513e-10,3.824340112194805e-09,-3.6104090123423857e-09,-3.606081966456711e-10,-4.591530993547842e-10,-2.468786857597835e-09,2.3625184964356222e-09,1.8939340348093275e-10,2.852212667799856e-18,-2.2473824664135104e-16,1.3405356629868823e-14,4.863546541989546e-15,-1.4307741017282404e-15,3.108528155965739e-08],"joint_position_rad":[-2.0199042629900457,-1.601477809229998,1.3356012191763242,-1.3049197367423888,-1.5707963267948581,-0.4491079361950732],"joint_velocity_rad_s":[2.6546786221656307e-12,6.516651535645846e-12,-1.7355073213595358e-11,2.081267998775694e-11,7.068273942062873e-12,2.4189156198854296e-13],"linkage_position_rad":[0.0029336111708268453,0.00015630155858868496,0.003193479470934083,-0.003429298942070631,0.0029336110753459843,0.00015630111040734155,0.0031978493852198734,-0.003437996890519898],"tcp_position_m":[0.08125537448656382,0.4772357226219162,0.4349999999992329],"tcp_quaternion_wxyz":[-2.1054534904763104e-13,0.7071067811865741,0.7071067811865202,5.438897501337949e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994131,-1.6567272202488117e-16,-1.1680623740842358e-18,1.083563592971149e-06],"object_linear_velocity_m_s":[2.852212667799856e-18,-2.2473824664135104e-16,1.3405356629868823e-14],"object_angular_velocity_rad_s":[4.863549642574949e-15,-1.4307635515009837e-15,3.10852815596574e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221272741,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899226,-1.6109718312029997,1.3254580468025356,-1.309746388016758,-1.5707951084242953,-0.44910793619502654,0.0],"actuator_force":[-8.158167474903166e-10,-18.988043948610084,-20.286344740635286,-2.4133256392658495,0.0006091845746141189,-8.526512829121202e-13,-0.2933611132105043],"issued_joint_targets_rad":[-2.019904262989922,-1.6014778092286936,1.3356012191727418,-1.304919736738964,-1.5707963267948946,-0.4491079361950264],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.07999999999667,"joint_targets_rad":[-2.019904262989922,-1.6014778092286936,1.3356012191727418,-1.304919736738964,-1.5707963267948946,-0.4491079361950264],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.099999999996694,"qpos":[-2.0199042629900386,-1.6014778092298738,1.335601219175979,-1.3049197367420708,-1.5707963267948801,-0.44910793619506884,0.0029336111702035882,0.00015630155184744393,0.0031934794763132266,-0.0034292989403185105,0.002933611075505131,0.00015630111489241266,0.0031978493813600043,-0.003437996891320485,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999413,-1.0173884618044272e-16,-1.450726199508018e-17,1.0839487750678485e-06],"qvel":[9.056727616183404e-13,5.8984717826010404e-12,-1.652991046941119e-11,1.8056650858397076e-11,6.180478968263826e-12,2.2370286281835256e-13,-3.533285186736071e-10,-1.2384272262985584e-09,1.4072113107369538e-09,-6.382363766287647e-11,5.494377070144906e-10,7.555287875210049e-10,-5.513521229878821e-10,-1.4719314906008884e-10,2.944974996403847e-17,-1.3224622043102134e-16,1.340396885108804e-14,6.165276142615291e-15,-1.501870379530599e-15,5.675387411666977e-08],"joint_position_rad":[-2.0199042629900386,-1.6014778092298738,1.335601219175979,-1.3049197367420708,-1.5707963267948801,-0.44910793619506884],"joint_velocity_rad_s":[9.056727616183404e-13,5.8984717826010404e-12,-1.652991046941119e-11,1.8056650858397076e-11,6.180478968263826e-12,2.2370286281835256e-13],"linkage_position_rad":[0.0029336111702035882,0.00015630155184744393,0.0031934794763132266,-0.0034292989403185105,0.002933611075505131,0.00015630111489241266,0.0031978493813600043,-0.003437996891320485],"tcp_position_m":[0.08125537448656776,0.47723572262191927,0.4349999999993085],"tcp_quaternion_wxyz":[-1.8409977847628336e-13,0.7071067811865732,0.7071067811865215,5.018989666835042e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999413,-1.0173884618044272e-16,-1.450726199508018e-17,1.0839487750678485e-06],"object_linear_velocity_m_s":[2.944974996403847e-17,-1.3224622043102134e-16,1.340396885108804e-14],"object_angular_velocity_rad_s":[6.165279396855226e-15,-1.5018570022918802e-15,5.675387411666982e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221257358,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989922,-1.6109718312029992,1.325458046802533,-1.3097463880167546,-1.5707951084242957,-0.4491079361950264,0.0],"actuator_force":[-1.2960299500264227e-10,-18.988043948610084,-20.286344740279674,-2.4133256391475015,0.0006091846742037887,-1.1652900866465643e-12,-0.29336111326598185],"issued_joint_targets_rad":[-2.0199042629899226,-1.6014778092286923,1.3356012191727393,-1.3049197367389611,-1.5707963267948946,-0.44910793619502604],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.099999999996694,"joint_targets_rad":[-2.0199042629899226,-1.6014778092286923,1.3356012191727393,-1.3049197367389611,-1.5707963267948946,-0.44910793619502604],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.11999999999672,"qpos":[-2.0199042629900275,-1.601477809229762,1.3356012191756688,-1.3049197367417757,-1.5707963267948892,-0.44910793619506456,0.002933611170879921,0.00015630155571836745,0.0031934794725482192,-0.003429298940909596,0.0029336110746285633,0.0001563011123725551,0.003197849383414947,-0.0034379968907836153,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994128,-5.862723469215972e-17,-2.601959401608964e-17,1.0842672533723972e-06],"qvel":[-6.511913737035267e-12,5.418320721487756e-12,-1.700703296319563e-11,-4.0720582020719376e-13,-3.105724838281847e-11,1.6499937692793334e-13,-2.7072266330605133e-09,-1.5448840089632203e-08,1.4513752217209492e-08,1.283577254845608e-09,1.859911737380487e-09,9.95613504320764e-09,-9.55995904646473e-09,-6.857594854647991e-10,1.4563959473312077e-16,-1.1353444981588571e-16,1.3205516485436295e-14,3.068303551369424e-16,-9.593626575823995e-15,1.0361824199881398e-07],"joint_position_rad":[-2.0199042629900275,-1.601477809229762,1.3356012191756688,-1.3049197367417757,-1.5707963267948892,-0.44910793619506456],"joint_velocity_rad_s":[-6.511913737035267e-12,5.418320721487756e-12,-1.700703296319563e-11,-4.0720582020719376e-13,-3.105724838281847e-11,1.6499937692793334e-13],"linkage_position_rad":[0.002933611170879921,0.00015630155571836745,0.0031934794725482192,-0.003429298940909596,0.0029336110746285633,0.0001563011123725551,0.003197849383414947,-0.0034379968907836153],"tcp_position_m":[0.08125537448656572,0.47723572262192127,0.4349999999993753],"tcp_quaternion_wxyz":[-1.6395145334630545e-13,0.7071067811865711,0.7071067811865238,4.577749509987977e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994128,-5.862723469215972e-17,-2.601959401608964e-17,1.0842672533723972e-06],"object_linear_velocity_m_s":[1.4563959473312077e-16,-1.1353444981588571e-16,1.3205516485436295e-14],"object_angular_velocity_rad_s":[3.068511538542735e-16,-9.59362589827954e-15,1.0361824199881411e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221271105,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899226,-1.610971831203,1.325458046802531,-1.3097463880167517,-1.5707951084242961,-0.44910793619502604,0.0],"actuator_force":[2.8144313546363264e-09,-18.98804394864328,-20.286344739472497,-2.413325637447315,0.0006091884022225713,2.7569058147491887e-12,-0.29336110803884974],"issued_joint_targets_rad":[-2.0199042629899218,-1.6014778092286905,1.3356012191727364,-1.304919736738958,-1.570796326794895,-0.4491079361950261],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.11999999999672,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286905,1.3356012191727364,-1.304919736738958,-1.570796326794895,-0.4491079361950261],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.139999999996743,"qpos":[-2.019904262990012,-1.6014778092296593,1.3356012191753883,-1.3049197367414949,-1.5707963267948652,-0.449107936195061,0.002933611171582589,0.00015630156285599415,0.0031934794669119973,-0.0034292989425220733,0.00293361107472171,0.00015630110764606442,0.003197849387789023,-0.003437996890232406,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994128,-4.285387691730844e-17,-4.887711787110127e-17,1.084660302046149e-06],"qvel":[2.5269913521762313e-12,4.856212071305113e-12,-1.2578457869204328e-11,1.577046581425905e-11,5.437863154598978e-12,1.794702441476563e-13,8.811368196794077e-10,4.7154517219466894e-09,-4.55562831354387e-09,-3.811469491617624e-10,-7.517378106122115e-10,-3.033370946064418e-09,2.858321408436223e-09,2.7094877657010673e-10,5.768320461065945e-17,-5.585104214484721e-17,1.2750325045339983e-14,2.0607059201516004e-15,1.088055014761292e-15,1.1226187973436543e-08],"joint_position_rad":[-2.019904262990012,-1.6014778092296593,1.3356012191753883,-1.3049197367414949,-1.5707963267948652,-0.449107936195061],"joint_velocity_rad_s":[2.5269913521762313e-12,4.856212071305113e-12,-1.2578457869204328e-11,1.577046581425905e-11,5.437863154598978e-12,1.794702441476563e-13],"linkage_position_rad":[0.002933611171582589,0.00015630156285599415,0.0031934794669119973,-0.0034292989425220733,0.00293361107472171,0.00015630110764606442,0.003197849387789023,-0.003437996890232406],"tcp_position_m":[0.08125537448655223,0.4772357226219242,0.4349999999994334],"tcp_quaternion_wxyz":[-1.5824702438962114e-13,0.7071067811865666,0.7071067811865281,4.0504427699679396e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994128,-4.285387691730844e-17,-4.887711787110127e-17,1.084660302046149e-06],"object_linear_velocity_m_s":[5.768320461065945e-17,-5.585104214484721e-17,1.2750325045339983e-14],"object_angular_velocity_rad_s":[2.0607035587091856e-15,1.0880594860527156e-15,1.1226187973436566e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284839,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899218,-1.6109718312029997,1.3254580468025288,-1.3097463880167481,-1.5707951084242961,-0.4491079361950261,0.0],"actuator_force":[-8.308234100695699e-10,-18.988043948623726,-20.286344740687582,-2.413325639203663,0.0006091847408242757,-4.547473508864641e-13,-0.29336111296221],"issued_joint_targets_rad":[-2.0199042629899218,-1.6014778092286892,1.3356012191727336,-1.3049197367389553,-1.570796326794895,-0.4491079361950255],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.139999999996743,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286892,1.3356012191727336,-1.3049197367389553,-1.570796326794895,-0.4491079361950255],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.159999999996767,"qpos":[-2.0199042629900097,-1.601477809229567,1.3356012191751312,-1.3049197367412604,-1.5707963267948832,-0.44910793619505773,0.002933611170274227,0.00015630155325913465,0.003193479475248548,-0.003429298940703318,0.002933611075665651,0.00015630111392977823,0.003197849382326055,-0.003437996891252635,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994116,-5.256870975755749e-17,-5.822373089651543e-17,1.0851062441364636e-06],"qvel":[2.142310648061555e-12,4.369680147807565e-12,-1.1630395759284721e-11,1.5519382418599822e-11,8.538768470835656e-12,1.7239350020593416e-13,2.0125811475763274e-10,1.917539452352856e-09,-1.6410985215354975e-09,-3.2675529624865126e-10,3.208063859173179e-11,-1.2629498537386434e-09,1.2833716980447338e-09,6.011398030573315e-11,7.30270233736142e-17,-6.80703204763988e-17,1.3150005334205039e-14,6.146672974979922e-16,1.1099011387802918e-15,2.0496184273964614e-08],"joint_position_rad":[-2.0199042629900097,-1.601477809229567,1.3356012191751312,-1.3049197367412604,-1.5707963267948832,-0.44910793619505773],"joint_velocity_rad_s":[2.142310648061555e-12,4.369680147807565e-12,-1.1630395759284721e-11,1.5519382418599822e-11,8.538768470835656e-12,1.7239350020593416e-13],"linkage_position_rad":[0.002933611170274227,0.00015630155325913465,0.003193479475248548,-0.003429298940703318,0.002933611075665651,0.00015630111392977823,0.003197849382326055,-0.003437996891252635],"tcp_position_m":[0.08125537448655726,0.4772357226219263,0.43499999999949],"tcp_quaternion_wxyz":[-1.381261431775781e-13,0.7071067811865671,0.7071067811865276,3.7514216543876465e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994116,-5.256870975755749e-17,-5.822373089651543e-17,1.0851062441364636e-06],"object_linear_velocity_m_s":[7.30270233736142e-17,-6.80703204763988e-17,1.3150005334205039e-14],"object_angular_velocity_rad_s":[6.146648863885019e-16,1.1099024748912373e-15,2.0496184273964627e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221259254,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899218,-1.610971831203,1.3254580468025263,-1.309746388016745,-1.5707951084242961,-0.4491079361950255,0.0],"actuator_force":[-6.807567842770368e-10,-18.988043948614177,-20.28634474055798,-2.4133256392942712,0.0006091844396678425,-1.1368683772161603e-12,-0.29336111346368765],"issued_joint_targets_rad":[-2.0199042629899218,-1.6014778092286879,1.3356012191727316,-1.3049197367389533,-1.570796326794895,-0.44910793619502576],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.159999999996767,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286879,1.3356012191727316,-1.3049197367389533,-1.570796326794895,-0.44910793619502576],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.17999999999679,"qpos":[-2.0199042629900053,-1.601477809229483,1.3356012191748994,-1.3049197367410486,-1.5707963267949032,-0.44910793619505457,0.0029336111694480615,0.00015630154833973188,0.0031934794798743325,-0.0034292989405667043,0.002933611076008749,0.00015630111703856086,0.0031978493791266975,-0.0034379968911845173,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994115,-7.363936541056325e-17,-4.572984545038653e-17,1.0855426608776756e-06],"qvel":[-2.0231728028083615e-12,3.992690994647375e-12,-1.2170823630177724e-11,8.07874295952513e-12,-3.579512469343583e-12,1.4631462223041938e-13,-1.3077693544545638e-09,-6.908412189958091e-09,6.788959418904053e-09,4.0539832170232284e-10,1.2602949765635851e-09,4.382867618985372e-09,-3.9903693222790534e-09,-4.1447437151682807e-10,6.09824745838301e-17,-1.0944774120799508e-16,1.348723557793493e-14,-1.1862597529298066e-15,1.530668044025707e-15,3.74208565531006e-08],"joint_position_rad":[-2.0199042629900053,-1.601477809229483,1.3356012191748994,-1.3049197367410486,-1.5707963267949032,-0.44910793619505457],"joint_velocity_rad_s":[-2.0231728028083615e-12,3.992690994647375e-12,-1.2170823630177724e-11,8.07874295952513e-12,-3.579512469343583e-12,1.4631462223041938e-13],"linkage_position_rad":[0.0029336111694480615,0.00015630154833973188,0.0031934794798743325,-0.0034292989405667043,0.002933611076008749,0.00015630111703856086,0.0031978493791266975,-0.0034379968911845173],"tcp_position_m":[0.08125537448656134,0.4772357226219281,0.43499999999954064],"tcp_quaternion_wxyz":[-1.1836009698026882e-13,0.7071067811865666,0.7071067811865279,3.484021466738316e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994115,-7.363936541056325e-17,-4.572984545038653e-17,1.0855426608776756e-06],"object_linear_velocity_m_s":[6.09824745838301e-17,-1.0944774120799508e-16,1.348723557793493e-14],"object_angular_velocity_rad_s":[-1.1862630795604413e-15,1.5306654740622567e-15,3.742085655310065e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221247224,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899218,-1.610971831203,1.3254580468025248,-1.3097463880167428,-1.5707951084242961,-0.44910793619502576,0.0],"actuator_force":[9.763425623532385e-10,-18.988043948631002,-20.28634473988086,-2.41332563865501,0.0006091856615739744,-2.5579538487363607e-13,-0.2933611120354686],"issued_joint_targets_rad":[-2.0199042629899218,-1.601477809228686,1.335601219172729,-1.304919736738951,-1.5707963267948954,-0.44910793619502587],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.17999999999679,"joint_targets_rad":[-2.0199042629899218,-1.601477809228686,1.335601219172729,-1.304919736738951,-1.5707963267948954,-0.44910793619502587],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.199999999996816,"qpos":[-2.0199042629899884,-1.6014778092294069,1.3356012191746942,-1.3049197367408318,-1.5707963267948708,-0.44910793619505174,0.002933611172503464,0.0001563015675191769,0.003193479462404987,-0.0034292989429468273,0.00293361107388568,0.00015630110463198512,0.003197849390575739,-0.003437996889906085,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994112,-8.645219072049813e-17,-3.06891141233363e-17,1.085943756124975e-06],"qvel":[2.1705975649337054e-12,3.6215602371336187e-12,-9.162506745660147e-12,1.1709170298767748e-11,3.6840054019971944e-12,1.3114786572005022e-13,1.0387632845692328e-09,5.0777971757418275e-09,-4.989735882030419e-09,-3.458492553382287e-10,-9.568247332575847e-10,-3.262226131700421e-09,3.0588407313088015e-09,3.0930348180290534e-10,4.827406741163646e-17,-1.7326740066743613e-16,1.3766179112871999e-14,-4.747827857131635e-15,1.0556546290503452e-15,6.832103412275772e-08],"joint_position_rad":[-2.0199042629899884,-1.6014778092294069,1.3356012191746942,-1.3049197367408318,-1.5707963267948708,-0.44910793619505174],"joint_velocity_rad_s":[2.1705975649337054e-12,3.6215602371336187e-12,-9.162506745660147e-12,1.1709170298767748e-11,3.6840054019971944e-12,1.3114786572005022e-13],"linkage_position_rad":[0.002933611172503464,0.0001563015675191769,0.003193479462404987,-0.0034292989429468273,0.00293361107388568,0.00015630110463198512,0.003197849390575739,-0.003437996889906085],"tcp_position_m":[0.08125537448654442,0.4772357226219301,0.4349999999995814],"tcp_quaternion_wxyz":[-1.1909760395328287e-13,0.7071067811865617,0.707106781186533,3.0136715007962283e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994112,-8.645219072049813e-17,-3.06891141233363e-17,1.085943756124975e-06],"object_linear_velocity_m_s":[4.827406741163646e-17,-1.7326740066743613e-16,1.3766179112871999e-14],"object_angular_velocity_rad_s":[-4.747830154076989e-15,1.0556443291128257e-15,6.832103412275784e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298819,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899218,-1.6109718312029995,1.3254580468025225,-1.3097463880167404,-1.5707951084242968,-0.44910793619502587,0.0],"actuator_force":[-7.34871719032526e-10,-18.988043948634186,-20.286344740678487,-2.4133256391251052,0.0006091849186304898,-1.4210854715202004e-13,-0.29336111272914994],"issued_joint_targets_rad":[-2.0199042629899213,-1.6014778092286854,1.335601219172727,-1.3049197367389491,-1.5707963267948957,-0.44910793619502537],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.199999999996816,"joint_targets_rad":[-2.0199042629899213,-1.6014778092286854,1.335601219172727,-1.3049197367389491,-1.5707963267948957,-0.44910793619502537],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.21999999999684,"qpos":[-2.019904262989986,-1.601477809229338,1.335601219174503,-1.3049197367406584,-1.570796326794884,-0.4491079361950495,0.00293361117072648,0.00015630155655557443,0.0031934794723007713,-0.00342929894121249,0.002933611075409408,0.00015630111178766657,0.003197849384338463,-0.003437996891029748,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994101,-7.692925118541765e-17,-1.9291836985318947e-17,1.0862029140814618e-06],"qvel":[2.5762254981254517e-12,3.2471105802638893e-12,-8.153876864935225e-12,1.2513839736752879e-11,7.808075284766566e-12,1.2825092968523963e-13,5.805057783611702e-10,3.7784408853338445e-09,-3.49509146549625e-09,-4.5025221979599605e-10,-3.839302991065895e-10,-2.446331174113955e-09,2.325864765386077e-09,2.1017093509810684e-10,2.5495301481682245e-17,-9.368578409150682e-17,1.3069514164919713e-14,3.189806645614749e-15,1.1368379966549498e-15,7.402024554812546e-09],"joint_position_rad":[-2.019904262989986,-1.601477809229338,1.335601219174503,-1.3049197367406584,-1.570796326794884,-0.4491079361950495],"joint_velocity_rad_s":[2.5762254981254517e-12,3.2471105802638893e-12,-8.153876864935225e-12,1.2513839736752879e-11,7.808075284766566e-12,1.2825092968523963e-13],"linkage_position_rad":[0.00293361117072648,0.00015630155655557443,0.0031934794723007713,-0.00342929894121249,0.002933611075409408,0.00015630111178766657,0.003197849384338463,-0.003437996891029748],"tcp_position_m":[0.08125537448654808,0.4772357226219322,0.43499999999962385],"tcp_quaternion_wxyz":[-1.0436359758784763e-13,0.7071067811865617,0.7071067811865333,2.7963443937706787e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994101,-7.692925118541765e-17,-1.9291836985318947e-17,1.0862029140814618e-06],"object_linear_velocity_m_s":[2.5495301481682245e-17,-9.368578409150682e-17,1.3069514164919713e-14],"object_angular_velocity_rad_s":[3.1898041756481344e-15,1.1368449273456791e-15,7.402024554812548e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221267677,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899213,-1.610971831203,1.3254580468025208,-1.3097463880167382,-1.5707951084242968,-0.44910793619502537,0.0],"actuator_force":[-9.008545021060854e-10,-18.988043948622817,-20.286344740703043,-2.4133256392912017,0.0006091845127684792,-7.673861546209082e-13,-0.2933611132896718],"issued_joint_targets_rad":[-2.0199042629899213,-1.601477809228685,1.335601219172727,-1.304919736738948,-1.5707963267948952,-0.449107936195025],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.21999999999684,"joint_targets_rad":[-2.0199042629899213,-1.601477809228685,1.335601219172727,-1.304919736738948,-1.5707963267948952,-0.449107936195025],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.239999999996865,"qpos":[-2.0199042629899844,-1.6014778092292752,1.3356012191743307,-1.304919736740505,-1.5707963267949039,-0.4491079361950473,0.0029336111689026233,0.00015630154641725229,0.0031934794820899564,-0.0034292989407312853,0.0029336110767671886,0.0001563011182140268,0.0031978493781270817,-0.0034379968913192255,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.99999999999941,-5.82885837795312e-17,-2.3064246800996516e-17,1.086676071064474e-06],"qvel":[6.972412818212209e-13,2.9269954183766596e-12,-8.27166677689642e-12,1.048349695630284e-11,6.870718058436452e-12,1.2279904565846326e-13,-4.058872714614912e-10,-1.3887915732086351e-09,1.6125296632791486e-09,-1.0850476841177497e-10,6.229403655182724e-10,8.384326043977278e-10,-6.351971665574642e-10,-1.432708836105134e-10,2.777814725733981e-17,-7.412539092223967e-17,1.3416458860115077e-14,2.900962736664703e-15,8.057734127560761e-16,1.3514227593085577e-08],"joint_position_rad":[-2.0199042629899844,-1.6014778092292752,1.3356012191743307,-1.304919736740505,-1.5707963267949039,-0.4491079361950473],"joint_velocity_rad_s":[6.972412818212209e-13,2.9269954183766596e-12,-8.27166677689642e-12,1.048349695630284e-11,6.870718058436452e-12,1.2279904565846326e-13],"linkage_position_rad":[0.0029336111689026233,0.00015630154641725229,0.0031934794820899564,-0.0034292989407312853,0.0029336110767671886,0.0001563011182140268,0.0031978493781270817,-0.0034379968913192255],"tcp_position_m":[0.08125537448655352,0.4772357226219336,0.43499999999966155],"tcp_quaternion_wxyz":[-8.789213549525139e-14,0.7071067811865616,0.7071067811865325,2.62300451469332e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.99999999999941,-5.82885837795312e-17,-2.3064246800996516e-17,1.086676071064474e-06],"object_linear_velocity_m_s":[2.777814725733981e-17,-7.412539092223967e-17,1.3416458860115077e-14],"object_angular_velocity_rad_s":[2.900960984805089e-15,8.057797191432015e-16,1.3514227593085588e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221238634,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899213,-1.6109718312030004,1.3254580468025212,-1.3097463880167368,-1.5707951084242961,-0.449107936195025,0.0],"actuator_force":[-1.5279510989785194e-10,-18.988043948621453,-20.286344740310142,-2.4133256391642135,0.0006091846167919357,-1.1368683772161603e-12,-0.2933611133687561],"issued_joint_targets_rad":[-2.0199042629899213,-1.601477809228683,1.3356012191727238,-1.3049197367389458,-1.570796326794896,-0.4491079361950253],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.239999999996865,"joint_targets_rad":[-2.0199042629899213,-1.601477809228683,1.3356012191727238,-1.3049197367389458,-1.570796326794896,-0.4491079361950253],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.25999999999689,"qpos":[-2.019904262989969,-1.6014778092292188,1.3356012191741802,-1.3049197367403413,-1.5707963267948744,-0.4491079361950452,0.0029336111735203322,0.0001563015722389512,0.003193479457772255,-0.0034292989432994224,0.0029336110729162278,0.00015630110160198683,0.0031978493933803006,-0.003437996889566516,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994098,-5.3017525102967825e-17,-2.2293036928890354e-17,1.0871514496676704e-06],"qvel":[1.7180197061031213e-12,2.701365094946373e-12,-6.71949458259163e-12,8.532429894067248e-12,2.1531729420132366e-12,9.93538656987413e-14,1.1336753770736578e-09,5.102507229077512e-09,-5.093584389777727e-09,-2.7635582300800374e-10,-1.0892715439278015e-09,-3.279489833609989e-09,3.0785219270919055e-09,3.1418445125035274e-10,2.877403410813727e-17,-7.209643400745249e-17,1.2982084101730484e-14,1.5521427331180028e-15,5.504706002862384e-16,2.4673566817468917e-08],"joint_position_rad":[-2.019904262989969,-1.6014778092292188,1.3356012191741802,-1.3049197367403413,-1.5707963267948744,-0.4491079361950452],"joint_velocity_rad_s":[1.7180197061031213e-12,2.701365094946373e-12,-6.71949458259163e-12,8.532429894067248e-12,2.1531729420132366e-12,9.93538656987413e-14],"linkage_position_rad":[0.0029336111735203322,0.0001563015722389512,0.003193479457772255,-0.0034292989432994224,0.0029336110729162278,0.00015630110160198683,0.0031978493933803006,-0.003437996889566516],"tcp_position_m":[0.08125537448653786,0.4772357226219351,0.43499999999969086],"tcp_quaternion_wxyz":[-9.012917993778693e-14,0.7071067811865569,0.7071067811865378,2.245443245857898e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994098,-5.3017525102967825e-17,-2.2293036928890354e-17,1.0871514496676704e-06],"object_linear_velocity_m_s":[2.877403410813727e-17,-7.209643400745249e-17,1.2982084101730484e-14],"object_angular_velocity_rad_s":[1.5521415351244138e-15,5.504739777296445e-16,2.4673566817468957e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313355,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899213,-1.6109718312029992,1.3254580468025183,-1.3097463880167346,-1.5707951084242973,-0.4491079361950253,0.0],"actuator_force":[-5.920810508541763e-10,-18.98804394864146,-20.28634474063574,-2.4133256390498445,0.0006091850732445891,-2.842170943040401e-14,-0.2933611125438472],"issued_joint_targets_rad":[-2.0199042629899213,-1.6014778092286828,1.335601219172723,-1.3049197367389445,-1.5707963267948954,-0.44910793619502465],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.25999999999689,"joint_targets_rad":[-2.0199042629899213,-1.6014778092286828,1.335601219172723,-1.3049197367389445,-1.5707963267948954,-0.44910793619502465],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.279999999996914,"qpos":[-2.019904262989968,-1.601477809229168,1.3356012191740385,-1.304919736740212,-1.5707963267948835,-0.44910793619504313,0.0029336111714364102,0.00015630156086868054,0.0031934794682882033,-0.003429298941758623,0.0029336110748421824,0.0001563011090169017,0.0031978493868713123,-0.0034379968907087832,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994086,-4.28844493080334e-17,-1.4489945226472845e-17,1.0875548454593447e-06],"qvel":[2.516442001969846e-12,2.4201176714587443e-12,-5.735462300303346e-12,9.661666162714992e-12,6.032223408530681e-12,9.684728241356863e-14,8.39345026061063e-10,4.77222049594246e-09,-4.532017579854074e-09,-4.811437465840482e-10,-6.977387617909873e-10,-3.078166070222508e-09,2.870644581699453e-09,3.057132241585566e-10,2.1283810269386036e-17,-5.941863115097505e-17,1.2311786950613043e-14,8.368619983505022e-16,8.21852622556895e-16,4.504770215706293e-08],"joint_position_rad":[-2.019904262989968,-1.601477809229168,1.3356012191740385,-1.304919736740212,-1.5707963267948835,-0.44910793619504313],"joint_velocity_rad_s":[2.516442001969846e-12,2.4201176714587443e-12,-5.735462300303346e-12,9.661666162714992e-12,6.032223408530681e-12,9.684728241356863e-14],"linkage_position_rad":[0.0029336111714364102,0.00015630156086868054,0.0031934794682882033,-0.003429298941758623,0.0029336110748421824,0.0001563011090169017,0.0031978493868713123,-0.0034379968907087832],"tcp_position_m":[0.08125537448654056,0.47723572262193614,0.4349999999997223],"tcp_quaternion_wxyz":[-7.947951768091155e-14,0.7071067811865572,0.707106781186537,2.0781340389017023e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994086,-4.28844493080334e-17,-1.4489945226472845e-17,1.0875548454593447e-06],"object_linear_velocity_m_s":[2.1283810269386036e-17,-5.941863115097505e-17,1.2311786950613043e-14],"object_angular_velocity_rad_s":[8.368602094234371e-16,8.218544466852837e-16,4.504770215706292e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221280185,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899213,-1.610971831203,1.3254580468025177,-1.309746388016733,-1.5707951084242966,-0.44910793619502465,0.0],"actuator_force":[-9.1313268058002e-10,-18.988043948632367,-20.28634474074761,-2.4133256392266276,0.0006091846902336329,-4.547473508864641e-13,-0.29336111302196094],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286819,1.3356012191727222,-1.3049197367389442,-1.5707963267948957,-0.44910793619502476],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.279999999996914,"joint_targets_rad":[-2.019904262989921,-1.6014778092286819,1.3356012191727222,-1.3049197367389442,-1.5707963267948957,-0.44910793619502476],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.29999999999694,"qpos":[-2.019904262989969,-1.6014778092291213,1.33560121917391,-1.304919736740099,-1.5707963267949003,-0.4491079361950411,0.002933611168960277,0.00015630154795032847,0.0031934794809548857,-0.0034292989411779493,0.0029336110769644765,0.00015630111722474583,0.003197849379100367,-0.003437996891220424,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994084,-3.595327232892281e-17,-9.929788438355244e-18,1.0879099315050511e-06],"qvel":[2.1133871400606617e-12,2.161736422116496e-12,-5.455723485487739e-12,1.0088513383420983e-11,9.396553135162262e-12,9.311982151088123e-14,1.986518142412505e-10,2.0545651847738763e-09,-1.714326887187928e-09,-3.900140651311322e-10,5.860314736975007e-11,-1.3530053958216326e-09,1.3545120063306202e-09,8.000750022887187e-11,1.9035093833001143e-17,-7.250611447347312e-17,1.2986247438072826e-14,-1.144705804183851e-15,-2.4752691520164075e-16,8.224572817719981e-08],"joint_position_rad":[-2.019904262989969,-1.6014778092291213,1.33560121917391,-1.304919736740099,-1.5707963267949003,-0.4491079361950411],"joint_velocity_rad_s":[2.1133871400606617e-12,2.161736422116496e-12,-5.455723485487739e-12,1.0088513383420983e-11,9.396553135162262e-12,9.311982151088123e-14],"linkage_position_rad":[0.002933611168960277,0.00015630154795032847,0.0031934794809548857,-0.0034292989411779493,0.0029336110769644765,0.00015630111722474583,0.003197849379100367,-0.003437996891220424],"tcp_position_m":[0.08125537448654635,0.47723572262193753,0.4349999999997506],"tcp_quaternion_wxyz":[-6.651348666029378e-14,0.7071067811865586,0.7071067811865361,1.960387596499694e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994084,-3.595327232892281e-17,-9.929788438355244e-18,1.0879099315050511e-06],"object_linear_velocity_m_s":[1.9035093833001143e-17,-7.250611447347312e-17,1.2986247438072826e-14],"object_angular_velocity_rad_s":[-1.1447052672405347e-15,-2.475293999606766e-16,8.224572817719982e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221241145,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.6109718312029997,1.3254580468025172,-1.3097463880167326,-1.5707951084242966,-0.44910793619502476,0.0],"actuator_force":[-7.494236342608929e-10,-18.988043948621453,-20.286344740603,-2.413325639325649,0.000609184362247106,-1.1652900866465643e-12,-0.29336111358251243],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286814,1.3356012191727207,-1.3049197367389422,-1.570796326794896,-0.44910793619502515],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.29999999999694,"joint_targets_rad":[-2.019904262989921,-1.6014778092286814,1.3356012191727207,-1.3049197367389422,-1.570796326794896,-0.44910793619502515],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.319999999996963,"qpos":[-2.019904262989961,-1.6014778092290796,1.3356012191737978,-1.3049197367399872,-1.570796326794902,-0.44910793619503964,0.0029336111718070326,0.00015630156312387313,0.003193479466467955,-0.003429298942481587,0.0029336110740579998,0.0001563011076079104,0.003197849387353599,-0.0034379968899460583,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994084,-3.0600474248704024e-17,-8.233157791979608e-18,1.0882219091429476e-06],"qvel":[-4.575698104166298e-12,2.051573641720969e-12,-6.8388656779502175e-12,-4.947177170739398e-12,-2.2023943949534064e-11,5.0935984439892114e-14,-1.6101212143977866e-09,-8.792492420928316e-09,8.30524443842587e-09,8.951974933783344e-10,1.0358609028876894e-09,5.784845216723879e-09,-5.782240381198175e-09,-4.1200264966226716e-10,9.83206277135403e-18,-3.7817599046191926e-17,1.2850245117556243e-14,1.3488590074550793e-15,4.439086590709786e-16,8.910651123960146e-09],"joint_position_rad":[-2.019904262989961,-1.6014778092290796,1.3356012191737978,-1.3049197367399872,-1.570796326794902,-0.44910793619503964],"joint_velocity_rad_s":[-4.575698104166298e-12,2.051573641720969e-12,-6.8388656779502175e-12,-4.947177170739398e-12,-2.2023943949534064e-11,5.0935984439892114e-14],"linkage_position_rad":[0.0029336111718070326,0.00015630156312387313,0.003193479466467955,-0.003429298942481587,0.0029336110740579998,0.0001563011076079104,0.003197849387353599,-0.0034379968899460583],"tcp_position_m":[0.08125537448654281,0.4772357226219378,0.43499999999977335],"tcp_quaternion_wxyz":[-5.895211975718995e-14,0.7071067811865561,0.7071067811865384,1.7659859745137174e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994084,-3.0600474248704024e-17,-8.233157791979608e-18,1.0882219091429476e-06],"object_linear_velocity_m_s":[9.83206277135403e-18,-3.7817599046191926e-17,1.2850245117556243e-14],"object_angular_velocity_rad_s":[1.3488580411629026e-15,4.439115953311163e-16,8.910651123960154e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290656,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.6109718312030001,1.3254580468025159,-1.3097463880167308,-1.5707951084242975,-0.44910793619502515,0.0],"actuator_force":[1.9103936210740358e-09,-18.988043948661925,-20.28634473982811,-2.413325637877051,0.0006091875046649875,2.1600499167107046e-12,-0.2933611094219501],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286805,1.335601219172719,-1.3049197367389407,-1.5707963267948963,-0.4491079361950248],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.319999999996963,"joint_targets_rad":[-2.019904262989921,-1.6014778092286805,1.335601219172719,-1.3049197367389407,-1.5707963267948963,-0.4491079361950248],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.339999999996987,"qpos":[-2.0199042629899537,-1.6014778092290418,1.3356012191736948,-1.30491973673988,-1.5707963267948846,-0.4491079361950385,0.0029336111723279466,0.00015630156565490092,0.003193479463741464,-0.0034292989422722783,0.002933611074043195,0.00015630110594461486,0.0031978493896754703,-0.0034379968903346797,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994083,-2.4404090580828168e-17,1.5131583112620398e-18,1.0886717541635471e-06],"qvel":[2.194992236286896e-12,1.8110890578822309e-12,-4.0773386575395345e-12,7.19608280449088e-12,4.131934550731007e-12,6.97883520496585e-14,1.0106984657150814e-09,5.193585991540038e-09,-5.02189812086593e-09,-4.5162103512432204e-10,-9.198336450395067e-10,-3.3475584691177833e-09,3.1006934853009805e-09,3.536764534163414e-10,-1.6463326218531334e-18,-3.113984184482371e-17,1.243391148332181e-14,9.353078919533647e-16,2.3455435921487543e-16,1.6268598732694242e-08],"joint_position_rad":[-2.0199042629899537,-1.6014778092290418,1.3356012191736948,-1.30491973673988,-1.5707963267948846,-0.4491079361950385],"joint_velocity_rad_s":[2.194992236286896e-12,1.8110890578822309e-12,-4.0773386575395345e-12,7.19608280449088e-12,4.131934550731007e-12,6.97883520496585e-14],"linkage_position_rad":[0.0029336111723279466,0.00015630156565490092,0.003193479463741464,-0.0034292989422722783,0.002933611074043195,0.00015630110594461486,0.0031978493896754703,-0.0034379968903346797],"tcp_position_m":[0.08125537448653469,0.4772357226219388,0.43499999999979466],"tcp_quaternion_wxyz":[-6.011347055173843e-14,0.7071067811865538,0.7071067811865405,1.538019276735129e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994083,-2.4404090580828168e-17,1.5131583112620398e-18,1.0886717541635471e-06],"object_linear_velocity_m_s":[-1.6463326218531334e-18,-3.113984184482371e-17,1.243391148332181e-14],"object_angular_velocity_rad_s":[9.353073812949709e-16,2.345563964949274e-16,1.6268598732694272e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221294492,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.6109718312029997,1.3254580468025143,-1.309746388016729,-1.5707951084242977,-0.4491079361950248,0.0],"actuator_force":[-8.126335160341114e-10,-18.988043948640097,-20.286344740729874,-2.4133256391442046,0.0006091848803180255,-1.4210854715202004e-13,-0.2933611127728811],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286799,1.3356012191727187,-1.3049197367389411,-1.570796326794896,-0.44910793619502454],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.339999999996987,"joint_targets_rad":[-2.019904262989921,-1.6014778092286799,1.3356012191727187,-1.3049197367389411,-1.570796326794896,-0.44910793619502454],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.35999999999701,"qpos":[-2.019904262989954,-1.6014778092290072,1.3356012191735984,-1.3049197367397958,-1.5707963267948963,-0.4491079361950374,0.0029336111694368058,0.00015630155152942266,0.0031934794777852774,-0.0034292989417598813,0.002933611076703657,0.00015630111491386206,0.0031978493812512064,-0.003437996890963201,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999407,-2.7108058712566895e-17,1.5553808387153294e-17,1.0891185897297304e-06],"qvel":[2.6327894249935536e-12,1.6078399932894595e-12,-3.5349357261389173e-12,8.571363852769221e-12,8.578914642185791e-12,7.225121147471998e-14,6.124791159528093e-10,4.084950840417008e-09,-3.739365486997031e-09,-5.205352699870524e-10,-3.957838816492529e-10,-2.639007723836087e-09,2.4865716175225488e-09,2.4122207432991325e-10,-2.1172229680771747e-17,-3.627403412159102e-17,1.2701752788012628e-14,1.1497538931517892e-16,6.14120277870324e-16,2.9702352953052177e-08],"joint_position_rad":[-2.019904262989954,-1.6014778092290072,1.3356012191735984,-1.3049197367397958,-1.5707963267948963,-0.4491079361950374],"joint_velocity_rad_s":[2.6327894249935536e-12,1.6078399932894595e-12,-3.5349357261389173e-12,8.571363852769221e-12,8.578914642185791e-12,7.225121147471998e-14],"linkage_position_rad":[0.0029336111694368058,0.00015630155152942266,0.0031934794777852774,-0.0034292989417598813,0.002933611076703657,0.00015630111491386206,0.0031978493812512064,-0.003437996890963201],"tcp_position_m":[0.08125537448653897,0.47723572262194014,0.434999999999816],"tcp_quaternion_wxyz":[-5.101973066587669e-14,0.7071067811865547,0.70710678118654,1.4539742325526343e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999407,-2.7108058712566895e-17,1.5553808387153294e-17,1.0891185897297304e-06],"object_linear_velocity_m_s":[-2.1172229680771747e-17,-3.627403412159102e-17,1.2701752788012628e-14],"object_angular_velocity_rad_s":[1.1497405253925193e-16,6.141205299228822e-16,2.9702352953052183e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221250365,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.6109718312029997,1.3254580468025143,-1.3097463880167293,-1.5707951084242968,-0.44910793619502454,0.0],"actuator_force":[-9.868017514236271e-10,-18.988043948628274,-20.286344740753975,-2.41332563932383,0.0006091844418278924,-7.673861546209082e-13,-0.2933611133904993],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286797,1.3356012191727176,-1.304919736738939,-1.5707963267948961,-0.44910793619502465],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.35999999999701,"joint_targets_rad":[-2.019904262989921,-1.6014778092286797,1.3356012191727176,-1.304919736738939,-1.5707963267948961,-0.44910793619502465],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.379999999997036,"qpos":[-2.0199042629899515,-1.6014778092289759,1.335601219173514,-1.304919736739719,-1.5707963267949092,-0.4491079361950363,0.0029336111710756285,0.0001563015595735607,0.0031934794700273165,-0.003429298942222385,0.0029336110747450977,0.0001563011099265451,0.003197849385102103,-0.0034379968901561628,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994068,-3.860030807675346e-17,2.3893679667605552e-17,1.0895421564869871e-06],"qvel":[-1.5173859362021834e-12,1.5092758501365658e-12,-4.822185402837477e-12,2.0604395663565715e-12,-2.949654182548227e-12,5.840952823984448e-14,-6.157640935505492e-10,-3.159947807953238e-09,3.0997764993836813e-09,3.270672967788579e-10,5.723737556461648e-10,2.0602660137969135e-09,-1.953902460343486e-09,-2.2879774465954325e-10,-3.7354974889630585e-17,-7.117178159063535e-17,1.3206904264217075e-14,-1.987304546659417e-15,9.91116177288863e-16,5.42289957139777e-08],"joint_position_rad":[-2.0199042629899515,-1.6014778092289759,1.335601219173514,-1.304919736739719,-1.5707963267949092,-0.4491079361950363],"joint_velocity_rad_s":[-1.5173859362021834e-12,1.5092758501365658e-12,-4.822185402837477e-12,2.0604395663565715e-12,-2.949654182548227e-12,5.840952823984448e-14],"linkage_position_rad":[0.0029336111710756285,0.0001563015595735607,0.0031934794700273165,-0.003429298942222385,0.0029336110747450977,0.0001563011099265451,0.003197849385102103,-0.0034379968901561628],"tcp_position_m":[0.08125537448654141,0.4772357226219405,0.4349999999998342],"tcp_quaternion_wxyz":[-4.096633628624939e-14,0.7071067811865541,0.7071067811865406,1.3621431332268082e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994068,-3.860030807675346e-17,2.3893679667605552e-17,1.0895421564869871e-06],"object_linear_velocity_m_s":[-3.7354974889630585e-17,-7.117178159063535e-17,1.3206904264217075e-14],"object_angular_velocity_rad_s":[-1.987306703788959e-15,9.911118509688627e-16,5.4228995713977733e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128012,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.610971831203,1.3254580468025132,-1.309746388016727,-1.5707951084242975,-0.44910793619502465,0.0],"actuator_force":[6.684786058031023e-10,-18.98804394865192,-20.28634474007231,-2.4133256387100346,0.000609185600865203,-2.842170943040401e-14,-0.29336111207408466],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286792,1.3356012191727171,-1.3049197367389387,-1.5707963267948961,-0.4491079361950245],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.379999999997036,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286792,1.3356012191727171,-1.3049197367389387,-1.5707963267948961,-0.4491079361950245],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.39999999999706,"qpos":[-2.0199042629899426,-1.601477809228948,1.3356012191734392,-1.3049197367396335,-1.570796326794885,-0.44910793619503525,0.0029336111733325753,0.00015630157052945375,0.0031934794590287624,-0.0034292989427220826,0.002933611073091805,0.00015630110280727123,0.0031978493925472243,-0.003437996889947097,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994067,-3.595769841642768e-17,2.3286176805741294e-17,1.089846466261098e-06],"qvel":[1.755833996649243e-12,1.3571935176294976e-12,-2.934089437113941e-12,5.180187730474654e-12,2.478584247023598e-12,5.3226650540356165e-14,1.116174405021069e-09,5.24916548517962e-09,-5.156849783341213e-09,-3.825425732715162e-10,-1.0653516705129778e-09,-3.3845883747159376e-09,3.1341445891225583e-09,3.641192264088836e-10,-4.9298234606098674e-17,-6.228766568600013e-17,1.2862735126583279e-14,-8.128721656116954e-16,1.0299478085013738e-15,9.900845164672618e-08],"joint_position_rad":[-2.0199042629899426,-1.601477809228948,1.3356012191734392,-1.3049197367396335,-1.570796326794885,-0.44910793619503525],"joint_velocity_rad_s":[1.755833996649243e-12,1.3571935176294976e-12,-2.934089437113941e-12,5.180187730474654e-12,2.478584247023598e-12,5.3226650540356165e-14],"linkage_position_rad":[0.0029336111733325753,0.00015630157052945375,0.0031934794590287624,-0.0034292989427220826,0.002933611073091805,0.00015630110280727123,0.0031978493925472243,-0.003437996889947097],"tcp_position_m":[0.08125537448653027,0.47723572262194125,0.4349999999998484],"tcp_quaternion_wxyz":[-4.60742492542018e-14,0.7071067811865512,0.7071067811865435,1.1400067916528815e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994067,-3.595769841642768e-17,2.3286176805741294e-17,1.089846466261098e-06],"object_linear_velocity_m_s":[-4.9298234606098674e-17,-6.228766568600013e-17,1.2862735126583279e-14],"object_angular_velocity_rad_s":[-8.128744059686756e-16,1.029946043807451e-15,9.900845164672628e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221309311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802513,-1.3097463880167268,-1.5707951084242975,-0.4491079361950245,0.0],"actuator_force":[-6.575646693818271e-10,-18.98804394864692,-20.286344740678487,-2.4133256390647375,0.0006091850459597481,8.526512829121202e-14,-0.2933611125753327],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286786,1.335601219172716,-1.304919736738938,-1.5707963267948963,-0.44910793619502426],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.39999999999706,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286786,1.335601219172716,-1.304919736738938,-1.5707963267948963,-0.44910793619502426],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.419999999997085,"qpos":[-2.019904262989944,-1.6014778092289217,1.3356012191733686,-1.304919736739572,-1.5707963267948957,-0.4491079361950342,0.0029336111731780813,0.00015630156938468075,0.0031934794598877897,-0.003429298941976813,0.002933611073040423,0.00015630110368888917,0.003197849391476905,-0.0034379968901175435,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994067,-2.93789669523859e-17,1.9174226690157825e-17,1.0902220289019927e-06],"qvel":[1.5496770133429041e-12,1.202558597020163e-12,-2.794375302836898e-12,5.648240409714534e-12,4.9767908383550425e-12,5.4452832412280834e-14,6.791274090844656e-10,3.520001321134274e-09,-3.459466212008486e-09,-1.955419582709614e-10,-5.594565601865411e-10,-2.285124967632109e-09,2.212786281381913e-09,1.5554031868259213e-10,-2.399786793787124e-17,-3.4907402253882315e-17,1.2299296941586013e-14,1.2857937974002206e-15,-8.824440195002952e-16,1.0726754939134411e-08],"joint_position_rad":[-2.019904262989944,-1.6014778092289217,1.3356012191733686,-1.304919736739572,-1.5707963267948957,-0.4491079361950342],"joint_velocity_rad_s":[1.5496770133429041e-12,1.202558597020163e-12,-2.794375302836898e-12,5.648240409714534e-12,4.9767908383550425e-12,5.4452832412280834e-14],"linkage_position_rad":[0.0029336111731780813,0.00015630156938468075,0.0031934794598877897,-0.003429298941976813,0.002933611073040423,0.00015630110368888917,0.003197849391476905,-0.0034379968901175435],"tcp_position_m":[0.08125537448653432,0.4772357226219418,0.4349999999998637],"tcp_quaternion_wxyz":[-3.803707136966468e-14,0.707106781186552,0.7071067811865427,1.0775599132568477e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994067,-2.93789669523859e-17,1.9174226690157825e-17,1.0902220289019927e-06],"object_linear_velocity_m_s":[-2.399786793787124e-17,-3.4907402253882315e-17,1.2299296941586013e-14],"object_angular_velocity_rad_s":[1.2857957219283388e-15,-8.824412152664718e-16,1.0726754939134433e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221308964,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.325458046802512,-1.3097463880167262,-1.5707951084242977,-0.44910793619502426,0.0],"actuator_force":[-5.725269147660583e-10,-18.98804394863737,-20.286344740595723,-2.413325639141817,0.0006091848013056733,-4.831690603168681e-13,-0.29336111290927946],"issued_joint_targets_rad":[-2.019904262989921,-1.6014778092286779,1.335601219172715,-1.3049197367389371,-1.570796326794896,-0.44910793619502415],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.419999999997085,"joint_targets_rad":[-2.019904262989921,-1.6014778092286779,1.335601219172715,-1.3049197367389371,-1.570796326794896,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.43999999999711,"qpos":[-2.0199042629899444,-1.6014778092288993,1.3356012191733047,-1.304919736739517,-1.570796326794908,-0.44910793619503325,0.002933611171792702,0.00015630156121296574,0.003193479467399874,-0.0034292989411432323,0.0029336110741227076,0.0001563011089938137,0.0031978493866931103,-0.0034379968907058208,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994054,-4.3803638562969984e-18,2.833066817104554e-17,1.0907026415997806e-06],"qvel":[3.762423423232433e-13,1.1004480679883437e-12,-3.089476223011056e-12,4.575966406729754e-12,4.316114986039951e-12,5.232703827713093e-14,-3.9261621396411136e-11,2.4809411401144007e-10,-1.0199027991101639e-10,-7.885595021721355e-11,1.723097029387663e-10,-1.7650799777182147e-10,2.144868062970828e-10,-2.0864552593492248e-11,-3.911385616974244e-17,-7.673472775470823e-18,1.2871061799267968e-14,1.2289177563524183e-15,-4.3430917913632e-16,1.958434567586784e-08],"joint_position_rad":[-2.0199042629899444,-1.6014778092288993,1.3356012191733047,-1.304919736739517,-1.570796326794908,-0.44910793619503325],"joint_velocity_rad_s":[3.762423423232433e-13,1.1004480679883437e-12,-3.089476223011056e-12,4.575966406729754e-12,4.316114986039951e-12,5.232703827713093e-14],"linkage_position_rad":[0.002933611171792702,0.00015630156121296574,0.003193479467399874,-0.0034292989411432323,0.0029336110741227076,0.0001563011089938137,0.0031978493866931103,-0.0034379968907058208],"tcp_position_m":[0.08125537448653825,0.4772357226219422,0.43499999999987854],"tcp_quaternion_wxyz":[-3.00584793413148e-14,0.7071067811865525,0.707106781186542,1.0339397382726706e-13],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994054,-4.3803638562969984e-18,2.833066817104554e-17,1.0907026415997806e-06],"object_linear_velocity_m_s":[-3.911385616974244e-17,-7.673472775470823e-18,1.2871061799267968e-14],"object_angular_velocity_rad_s":[1.2289187048635076e-15,-4.3430649819602617e-16,1.958434567586785e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286476,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.019904262989921,-1.6109718312029995,1.325458046802511,-1.309746388016725,-1.5707951084242973,-0.44910793619502415,0.0],"actuator_force":[-1.0368239600211382e-10,-18.988043948640552,-20.28634474035107,-2.4133256390615543,0.0006091848738378758,-6.821210263296962e-13,-0.2933611129610109],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228678,1.3356012191727153,-1.3049197367389371,-1.5707963267948963,-0.4491079361950242],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.43999999999711,"joint_targets_rad":[-2.0199042629899204,-1.601477809228678,1.3356012191727153,-1.3049197367389371,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.459999999997134,"qpos":[-2.0199042629899417,-1.6014778092288777,1.3356012191732487,-1.3049197367394627,-1.5707963267949114,-0.4491079361950323,0.0029336111715485198,0.00015630156070428622,0.00319347946819316,-0.0034292989418120345,0.0029336110742547677,0.00015630110920002865,0.003197849386304776,-0.003437996890388373,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994053,3.827385207555502e-18,2.237859142036229e-17,1.0911196429403416e-06],"qvel":[-4.9450354642606e-12,1.058016454633007e-12,-4.176004102715911e-12,-8.227336145609232e-12,-2.34297872683318e-11,1.7307473810034265e-14,-1.8157478485807622e-09,-9.759842360659254e-09,9.272239107495949e-09,8.498908525900888e-10,1.1959586538628452e-09,6.376177133502582e-09,-6.361825644495654e-09,-3.9475901255789105e-10,-3.0861475912539267e-17,5.646994842588504e-18,1.2744773930216858e-14,4.288222613252176e-16,-7.296505033152012e-16,3.5756069540902215e-08],"joint_position_rad":[-2.0199042629899417,-1.6014778092288777,1.3356012191732487,-1.3049197367394627,-1.5707963267949114,-0.4491079361950323],"joint_velocity_rad_s":[-4.9450354642606e-12,1.058016454633007e-12,-4.176004102715911e-12,-8.227336145609232e-12,-2.34297872683318e-11,1.7307473810034265e-14],"linkage_position_rad":[0.0029336111715485198,0.00015630156070428622,0.00319347946819316,-0.0034292989418120345,0.0029336110742547677,0.00015630110920002865,0.003197849386304776,-0.003437996890388373],"tcp_position_m":[0.081255374486538,0.4772357226219425,0.4349999999998899],"tcp_quaternion_wxyz":[-2.5242218895253913e-14,0.7071067811865519,0.7071067811865424,9.457545394831172e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994053,3.827385207555502e-18,2.237859142036229e-17,1.0911196429403416e-06],"object_linear_velocity_m_s":[-3.0861475912539267e-17,5.646994842588504e-18,1.2744773930216858e-14],"object_angular_velocity_rad_s":[4.2882385519653156e-16,-7.296495677943821e-16,3.5756069540902255e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284495,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025114,-1.309746388016725,-1.570795108424298,-0.4491079361950242,0.0],"actuator_force":[2.0208972273394465e-09,-18.98804394866829,-20.286344739804008,-2.4133256378083843,0.0006091876497293924,2.3305801732931286e-12,-0.2933611091912184],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286779,1.3356012191727151,-1.3049197367389367,-1.5707963267948963,-0.4491079361950244],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.459999999997134,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286779,1.3356012191727151,-1.3049197367389367,-1.5707963267948963,-0.4491079361950244],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.47999999999716,"qpos":[-2.019904262989937,-1.6014778092288595,1.3356012191731983,-1.3049197367394056,-1.5707963267948941,-0.4491079361950313,0.0029336111739387523,0.0001563015731454276,0.0031934794561762725,-0.0034292989422285043,0.002933611072367404,0.00015630110121056596,0.0031978493938516835,-0.003437996889915225,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999405,1.24945027334612e-17,3.939222721101823e-18,1.091502894177112e-06],"qvel":[1.5136922243388432e-12,8.975847137429979e-13,-1.8839319480539348e-12,4.377407642031073e-12,3.75406285905371e-12,3.704310143465945e-14,8.504216026844956e-10,4.069452900097003e-09,-4.062208278376802e-09,-1.9428417119325859e-10,-7.665572742152265e-10,-2.636178604379221e-09,2.532068132052221e-09,2.0192593568885816e-10,1.2218322734724519e-17,3.067146131309945e-17,1.2514402652607137e-14,1.6365304069337704e-15,-3.0164260674687764e-15,6.528155344955682e-08],"joint_position_rad":[-2.019904262989937,-1.6014778092288595,1.3356012191731983,-1.3049197367394056,-1.5707963267948941,-0.4491079361950313],"joint_velocity_rad_s":[1.5136922243388432e-12,8.975847137429979e-13,-1.8839319480539348e-12,4.377407642031073e-12,3.75406285905371e-12,3.704310143465945e-14],"linkage_position_rad":[0.0029336111739387523,0.0001563015731454276,0.0031934794561762725,-0.0034292989422285043,0.002933611072367404,0.00015630110121056596,0.0031978493938516835,-0.003437996889915225],"tcp_position_m":[0.08125537448653082,0.47723572262194297,0.4349999999998999],"tcp_quaternion_wxyz":[-2.917597068262663e-14,0.7071067811865505,0.7071067811865438,7.997431728321344e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999405,1.24945027334612e-17,3.939222721101823e-18,1.091502894177112e-06],"object_linear_velocity_m_s":[1.2218322734724519e-17,3.067146131309945e-17,1.2514402652607137e-14],"object_angular_velocity_rad_s":[1.6365369923197576e-15,-3.0164224965375626e-15,6.528155344955691e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221319726,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025114,-1.3097463880167246,-1.570795108424298,-0.4491079361950244,0.0],"actuator_force":[-5.725269147660583e-10,-18.988043948640552,-20.28634474062028,-2.4133256390971383,0.000609184922723216,-2.5579538487363607e-13,-0.29336111273462945],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286774,1.3356012191727147,-1.3049197367389365,-1.5707963267948961,-0.4491079361950243],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.47999999999716,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286774,1.3356012191727147,-1.3049197367389365,-1.5707963267948961,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.499999999997183,"qpos":[-2.0199042629899377,-1.6014778092288418,1.3356012191731506,-1.3049197367393661,-1.5707963267949043,-0.44910793619503037,0.0029336111720633593,0.00015630156321816318,0.00319347946563636,-0.0034292989414468115,0.0029336110740127543,0.00015630110764345087,0.003197849387994035,-0.003437996890583724,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994049,1.3600390644253405e-17,-1.3303987975401612e-17,1.0918065801140223e-06],"qvel":[1.30988904161456e-12,8.047093227582426e-13,-1.858245348429177e-12,4.8896505228890025e-12,6.025316795807859e-12,3.743136314169748e-14,3.8351370805976473e-10,2.4296324032008746e-09,-2.253028836710954e-09,-2.377681693560384e-10,-2.236044525519582e-10,-1.5847899553803083e-09,1.5348243350305313e-09,1.129975856268773e-10,1.646293127830922e-16,3.2645814664145295e-19,1.2243785790354759e-14,-2.2114621376941657e-15,-1.2888342845326828e-14,1.1918763095346308e-07],"joint_position_rad":[-2.0199042629899377,-1.6014778092288418,1.3356012191731506,-1.3049197367393661,-1.5707963267949043,-0.44910793619503037],"joint_velocity_rad_s":[1.30988904161456e-12,8.047093227582426e-13,-1.858245348429177e-12,4.8896505228890025e-12,6.025316795807859e-12,3.743136314169748e-14],"linkage_position_rad":[0.0029336111720633593,0.00015630156321816318,0.00319347946563636,-0.0034292989414468115,0.0029336110740127543,0.00015630110764345087,0.003197849387994035,-0.003437996890583724],"tcp_position_m":[0.08125537448653444,0.47723572262194386,0.43499999999991035],"tcp_quaternion_wxyz":[-2.289435251911757e-14,0.7071067811865512,0.7071067811865435,7.713728365169889e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994049,1.3600390644253405e-17,-1.3303987975401612e-17,1.0918065801140223e-06],"object_linear_velocity_m_s":[1.646293127830922e-16,3.2645814664145295e-19,1.2243785790354759e-14],"object_angular_velocity_rad_s":[-2.2114339977051853e-15,-1.2888347677515953e-14,1.1918763095346329e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290781,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802511,-1.3097463880167242,-1.5707951084242975,-0.4491079361950243,0.0],"actuator_force":[-4.893081495538354e-10,-18.98804394863828,-20.286344740535696,-2.413325639168079,0.0006091847009201956,-7.105427357601002e-13,-0.29336111310335194],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286777,1.3356012191727142,-1.3049197367389356,-1.5707963267948963,-0.4491079361950242],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.499999999997183,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286777,1.3356012191727142,-1.3049197367389356,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.519999999997207,"qpos":[-2.019904262989938,-1.6014778092288267,1.3356012191731084,-1.3049197367393306,-1.570796326794917,-0.44910793619502953,0.002933611170688816,0.00015630155662425146,0.0031934794723414662,-0.0034292989416477952,0.002933611075070645,0.00015630111179057888,0.003197849383806652,-0.0034379968905760053,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994037,2.8573196679631996e-18,-5.135196206105658e-17,1.0922586871887042e-06],"qvel":[-1.6390754501501441e-12,7.665707460080034e-13,-2.824849967475383e-12,5.781553999473542e-14,-2.999929761427522e-12,2.635783790493086e-14,-7.449017090152499e-10,-3.64867127870997e-09,3.65220399463744e-09,2.398239257553592e-10,7.016704099461255e-10,2.3480165048615494e-09,-2.2456227645722965e-09,-2.0086157803483233e-10,5.720651928562485e-17,4.7981132633105394e-18,1.3027880801496272e-14,-5.339694607183448e-16,3.841510034546451e-16,1.2913003766341358e-08],"joint_position_rad":[-2.019904262989938,-1.6014778092288267,1.3356012191731084,-1.3049197367393306,-1.570796326794917,-0.44910793619502953],"joint_velocity_rad_s":[-1.6390754501501441e-12,7.665707460080034e-13,-2.824849967475383e-12,5.781553999473542e-14,-2.999929761427522e-12,2.635783790493086e-14],"linkage_position_rad":[0.002933611170688816,0.00015630155662425146,0.0031934794723414662,-0.0034292989416477952,0.002933611075070645,0.00015630111179057888,0.003197849383806652,-0.0034379968905760053],"tcp_position_m":[0.08125537448653808,0.47723572262194336,0.4349999999999199],"tcp_quaternion_wxyz":[-1.551702826635562e-14,0.7071067811865516,0.7071067811865427,7.515486308886137e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994037,2.8573196679631996e-18,-5.135196206105658e-17,1.0922586871887042e-06],"object_linear_velocity_m_s":[5.720651928562485e-17,4.7981132633105394e-18,1.3027880801496272e-14],"object_angular_velocity_rad_s":[-5.339703012278284e-16,3.8414983691436975e-16,1.2913003766341363e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221271498,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.3254580468025106,-1.3097463880167233,-1.5707951084242977,-0.4491079361950242,0.0],"actuator_force":[6.912159733474255e-10,-18.988043948654195,-20.286344740065488,-2.41332563870219,0.0006091856096190895,2.842170943040401e-14,-0.2933611120718166],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286766,1.335601219172713,-1.3049197367389354,-1.5707963267948966,-0.4491079361950243],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.519999999997207,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286766,1.335601219172713,-1.3049197367389354,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.53999999999723,"qpos":[-2.01990426298993,-1.6014778092288133,1.3356012191730724,-1.3049197367392826,-1.5707963267948943,-0.449107936195029,0.002933611174801022,0.0001563015770599588,0.003193479452283553,-0.003429298942458788,0.002933611071559974,0.00015630109864361727,0.003197849396296453,-0.0034379968896821166,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994036,5.151837687761742e-18,-8.55685603834841e-17,1.0927129170476612e-06],"qvel":[1.291587609291556e-12,6.796571931317043e-13,-1.3060467857125631e-12,3.2065076808229623e-12,2.4599377622379344e-12,2.3806040910808535e-14,9.58418600598719e-10,4.2515634593907735e-09,-4.308374665682216e-09,-1.5412888111812078e-10,-9.076767663912596e-10,-2.751501820199276e-09,2.640639632400414e-09,2.169122391659519e-10,1.0906398739034695e-16,6.84513804139498e-18,1.3420622196457426e-14,2.0243609462175254e-16,3.4851062836862115e-16,2.357588393776019e-08],"joint_position_rad":[-2.01990426298993,-1.6014778092288133,1.3356012191730724,-1.3049197367392826,-1.5707963267948943,-0.449107936195029],"joint_velocity_rad_s":[1.291587609291556e-12,6.796571931317043e-13,-1.3060467857125631e-12,3.2065076808229623e-12,2.4599377622379344e-12,2.3806040910808535e-14],"linkage_position_rad":[0.002933611174801022,0.0001563015770599588,0.003193479452283553,-0.003429298942458788,0.002933611071559974,0.00015630109864361727,0.003197849396296453,-0.0034379968896821166],"tcp_position_m":[0.08125537448652775,0.47723572262194386,0.43499999999992617],"tcp_quaternion_wxyz":[-2.1956847467136122e-14,0.7071067811865491,0.7071067811865458,5.951788747012309e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994036,5.151837687761742e-18,-8.55685603834841e-17,1.0927129170476612e-06],"object_linear_velocity_m_s":[1.0906398739034695e-16,6.84513804139498e-18,1.3420622196457426e-14],"object_angular_velocity_rad_s":[2.0243532894243004e-16,3.4851107053393757e-16,2.3575883937760216e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221331202,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029995,1.3254580468025094,-1.309746388016723,-1.5707951084242981,-0.4491079361950243,0.0],"actuator_force":[-4.970388545189053e-10,-18.98804394864419,-20.286344740603454,-2.4133256390408633,0.0006091850520988373,-5.684341886080802e-14,-0.29336111257175895],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228677,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.44910793619502415],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.53999999999723,"joint_targets_rad":[-2.0199042629899204,-1.601477809228677,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.559999999997256,"qpos":[-2.0199042629899315,-1.6014778092288,1.3356012191730364,-1.304919736739253,-1.5707963267949014,-0.44910793619502853,0.002933611172618434,0.0001563015664705646,0.0031934794626118234,-0.0034292989418117955,0.002933611073592967,0.00015630110549422438,0.003197849390014094,-0.0034379968903718366,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994034,1.691560591398755e-17,-1.1193982081003946e-16,1.0931534032136596e-06],"qvel":[1.6434654974520734e-12,5.99437780070168e-13,-1.06307423188493e-12,4.3001690562207234e-12,5.465030674085012e-12,2.6557606646894844e-14,6.687528861887971e-10,3.6737106837961376e-09,-3.529749657392408e-09,-2.9697562441210117e-10,-5.3510048879797e-10,-2.3812744789587923e-09,2.2639001363947836e-09,2.0293119632397558e-10,1.7059897516227013e-16,2.901810626144322e-17,1.3713443519202314e-14,9.810857057599347e-16,-1.922026472759186e-15,4.304361041817147e-08],"joint_position_rad":[-2.0199042629899315,-1.6014778092288,1.3356012191730364,-1.304919736739253,-1.5707963267949014,-0.44910793619502853],"joint_velocity_rad_s":[1.6434654974520734e-12,5.99437780070168e-13,-1.06307423188493e-12,4.3001690562207234e-12,5.465030674085012e-12,2.6557606646894844e-14],"linkage_position_rad":[0.002933611172618434,0.0001563015664705646,0.0031934794626118234,-0.0034292989418117955,0.002933611073592967,0.00015630110549422438,0.003197849390014094,-0.0034379968903718366],"tcp_position_m":[0.0812553744865307,0.47723572262194447,0.4349999999999342],"tcp_quaternion_wxyz":[-1.7572586687386012e-14,0.7071067811865497,0.707106781186545,5.750979888156435e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994034,1.691560591398755e-17,-1.1193982081003946e-16,1.0931534032136596e-06],"object_linear_velocity_m_s":[1.7059897516227013e-16,2.901810626144322e-17,1.3713443519202314e-14],"object_angular_velocity_rad_s":[9.810898982605644e-16,-1.9220243292564675e-15,4.304361041817155e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221299281,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.32545804680251,-1.3097463880167228,-1.5707951084242977,-0.44910793619502415,0.0],"actuator_force":[-6.352820491883904e-10,-18.988043948640097,-20.28634474062801,-2.4133256391648956,0.0006091847553761909,-4.547473508864641e-13,-0.293361112978832],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286768,1.335601219172713,-1.3049197367389345,-1.5707963267948966,-0.44910793619502415],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.559999999997256,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286768,1.335601219172713,-1.3049197367389345,-1.5707963267948966,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.57999999999728,"qpos":[-2.0199042629899338,-1.6014778092287878,1.3356012191730042,-1.3049197367392291,-1.5707963267949139,-0.44910793619502826,0.002933611170508938,0.00015630155639226716,0.0031934794728442355,-0.003429298941817776,0.0029336110753963754,0.0001563011118746763,0.0031978493837402635,-0.0034379968905844543,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994021,2.554084769524425e-17,-1.2015754342154081e-16,1.0934926921159653e-06],"qvel":[3.580610535700445e-13,5.45830967613346e-13,-1.5826570003746913e-12,3.29630876672283e-12,4.737543872682481e-12,2.7303806949023272e-14,-5.2868336451671566e-11,2.5063634258752043e-10,-6.864353310857862e-11,-1.0034721482063654e-10,2.0069856493954802e-10,-1.7996328198555832e-10,2.1116711941993362e-10,-1.719624499538509e-11,2.8174191213749314e-16,5.595107164209834e-17,1.399655039048173e-14,3.3912656515645924e-15,-9.885951802939003e-15,7.858676275805359e-08],"joint_position_rad":[-2.0199042629899338,-1.6014778092287878,1.3356012191730042,-1.3049197367392291,-1.5707963267949139,-0.44910793619502826],"joint_velocity_rad_s":[3.580610535700445e-13,5.45830967613346e-13,-1.5826570003746913e-12,3.29630876672283e-12,4.737543872682481e-12,2.7303806949023272e-14],"linkage_position_rad":[0.002933611170508938,0.00015630155639226716,0.0031934794728442355,-0.003429298941817776,0.0029336110753963754,0.0001563011118746763,0.0031978493837402635,-0.0034379968905844543],"tcp_position_m":[0.08125537448653539,0.4772357226219446,0.4349999999999419],"tcp_quaternion_wxyz":[-1.0993432904643058e-14,0.7071067811865503,0.7071067811865439,5.769660329599847e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994021,2.554084769524425e-17,-1.2015754342154081e-16,1.0934926921159653e-06],"object_linear_velocity_m_s":[2.8174191213749314e-16,5.595107164209834e-17,1.399655039048173e-14],"object_angular_velocity_rad_s":[3.3912872531030045e-15,-9.885944390281315e-15,7.858676275805359e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221268663,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025094,-1.309746388016722,-1.5707951084242977,-0.44910793619502415,0.0],"actuator_force":[-1.1641532182693481e-10,-18.98804394864328,-20.286344740356526,-2.4133256390759925,0.0006091848343885431,-6.821210263296962e-13,-0.2933611130344168],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286763,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.4491079361950242],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.57999999999728,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286763,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.599999999997305,"qpos":[-2.019904262989932,-1.6014778092287785,1.3356012191729763,-1.3049197367392038,-1.57079632679492,-0.44910793619502815,0.0029336111727304303,0.00015630156540838395,0.0031934794633141908,-0.003429298941417335,0.0029336110729861926,0.00015630110624401182,0.0031978493888955165,-0.0034379968902388657,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994021,2.8413072876153554e-17,-1.1854202788535557e-16,1.0937907904264623e-06],"qvel":[-5.559903174198822e-12,5.477595451897632e-13,-3.0464579291144464e-12,-1.0204500127819767e-11,-2.4512858535643878e-11,-3.552333005936011e-15,-1.974896575557099e-09,-1.1339134454173929e-08,1.0638376643081957e-08,1.11940012163551e-09,1.326584001953222e-09,7.420182935491086e-09,-7.195629226961174e-09,-5.739576432895101e-10,1.4209269507444696e-16,3.207443991455303e-17,1.3420622196457433e-14,-1.189612167590147e-15,4.352011053584667e-15,8.514232184676647e-09],"joint_position_rad":[-2.019904262989932,-1.6014778092287785,1.3356012191729763,-1.3049197367392038,-1.57079632679492,-0.44910793619502815],"joint_velocity_rad_s":[-5.559903174198822e-12,5.477595451897632e-13,-3.0464579291144464e-12,-1.0204500127819767e-11,-2.4512858535643878e-11,-3.552333005936011e-15],"linkage_position_rad":[0.0029336111727304303,0.00015630156540838395,0.0031934794633141908,-0.003429298941417335,0.0029336110729861926,0.00015630110624401182,0.0031978493888955165,-0.0034379968902388657],"tcp_position_m":[0.08125537448653636,0.4772357226219443,0.43499999999994804],"tcp_quaternion_wxyz":[-6.9799239404870555e-15,0.70710678118655,0.7071067811865445,5.538279825090231e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994021,2.8413072876153554e-17,-1.1854202788535557e-16,1.0937907904264623e-06],"object_linear_velocity_m_s":[1.4209269507444696e-16,3.207443991455303e-17,1.3420622196457433e-14],"object_angular_velocity_rad_s":[-1.18962168998511e-15,4.352008450716757e-15,8.514232184676652e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221300722,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.32545804680251,-1.3097463880167228,-1.5707951084242981,-0.4491079361950242,0.0],"actuator_force":[2.2473614080809057e-09,-18.98804394866238,-20.286344739713968,-2.413325637739149,0.0006091877622793618,2.3305801732931286e-12,-0.29336110904426826],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.3356012191727122,-1.3049197367389345,-1.5707963267948966,-0.44910793619502404],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.599999999997305,"joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.3356012191727122,-1.3049197367389345,-1.5707963267948966,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.61999999999733,"qpos":[-2.019904262989926,-1.6014778092287696,1.3356012191729516,-1.3049197367391692,-1.570796326794898,-0.4491079361950279,0.002933611173364209,0.00015630157036550696,0.0031934794588732245,-0.003429298942178135,0.002933611072943588,0.0001563011029527711,0.003197849392386236,-0.0034379968901019327,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994019,4.4509146216342394e-17,-1.3250751473710043e-16,1.0942746572414007e-06],"qvel":[1.6162398071446953e-12,4.566353562275119e-13,-5.854222997933606e-13,3.4051492148573256e-12,4.135490872035579e-12,2.1793983808668594e-14,8.586973931837727e-10,4.2937964134130354e-09,-4.209155021158921e-09,-2.919145996023023e-10,-7.642836952260637e-10,-2.776801918459458e-09,2.6228204361379203e-09,2.5290252231179753e-10,1.6374067826131452e-16,5.290499075422532e-17,1.3571890083562609e-14,-9.474390192027184e-16,4.073903086079041e-15,1.554483785780997e-08],"joint_position_rad":[-2.019904262989926,-1.6014778092287696,1.3356012191729516,-1.3049197367391692,-1.570796326794898,-0.4491079361950279],"joint_velocity_rad_s":[1.6162398071446953e-12,4.566353562275119e-13,-5.854222997933606e-13,3.4051492148573256e-12,4.135490872035579e-12,2.1793983808668594e-14],"linkage_position_rad":[0.002933611173364209,0.00015630157036550696,0.0031934794588732245,-0.003429298942178135,0.002933611072943588,0.0001563011029527711,0.003197849392386236,-0.0034379968901019327],"tcp_position_m":[0.08125537448652734,0.47723572262194497,0.4349999999999522],"tcp_quaternion_wxyz":[-1.432701689639261e-14,0.707106781186548,0.7071067811865467,4.292405746105899e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994019,4.4509146216342394e-17,-1.3250751473710043e-16,1.0942746572414007e-06],"object_linear_velocity_m_s":[1.6374067826131452e-16,5.290499075422532e-17,1.3571890083562609e-14],"object_angular_velocity_rad_s":[-9.47447939257871e-16,4.073901011168494e-15,1.554483785780999e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221310453,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802509,-1.309746388016722,-1.5707951084242981,-0.44910793619502404,0.0],"actuator_force":[-6.343725544866174e-10,-18.98804394864328,-20.286344740651202,-2.4133256391169198,0.0006091848862297411,-2.2737367544323206e-13,-0.29336111278745836],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.335601219172712,-1.3049197367389338,-1.5707963267948966,-0.4491079361950237],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.61999999999733,"joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.335601219172712,-1.3049197367389338,-1.5707963267948966,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.639999999997354,"qpos":[-2.0199042629899298,-1.6014778092287607,1.3356012191729272,-1.3049197367391518,-1.5707963267949074,-0.4491079361950277,0.0029336111707878652,0.00015630155855244734,0.003193479470967774,-0.003429298942163826,0.002933611075293821,0.00015630111045297984,0.0031978493850776655,-0.003437996890442698,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994018,3.1774581990268877e-17,-1.271118891377531e-16,1.0947016138920355e-06],"qvel":[1.390345993487633e-12,4.0181386632624145e-13,-7.028486566331449e-13,4.080956638893084e-12,6.589426378095081e-12,2.720380761969624e-14,4.088495454843122e-10,2.6357880838666907e-09,-2.423719097103235e-09,-2.717349818345299e-10,-2.3168386031932452e-10,-1.7094442614756395e-09,1.6453948997820164e-09,1.2751333498036118e-10,1.7190615852321417e-16,3.978602365790693e-17,1.3860548069965151e-14,-1.4776396274753291e-15,2.5196905363838766e-15,2.8380948367900493e-08],"joint_position_rad":[-2.0199042629899298,-1.6014778092287607,1.3356012191729272,-1.3049197367391518,-1.5707963267949074,-0.4491079361950277],"joint_velocity_rad_s":[1.390345993487633e-12,4.0181386632624145e-13,-7.028486566331449e-13,4.080956638893084e-12,6.589426378095081e-12,2.720380761969624e-14],"linkage_position_rad":[0.0029336111707878652,0.00015630155855244734,0.003193479470967774,-0.003429298942163826,0.002933611075293821,0.00015630111045297984,0.0031978493850776655,-0.003437996890442698],"tcp_position_m":[0.08125537448653179,0.47723572262194514,0.4349999999999583],"tcp_quaternion_wxyz":[-9.468295676524024e-15,0.7071067811865492,0.707106781186545,4.3678221681256726e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994018,3.1774581990268877e-17,-1.271118891377531e-16,1.0947016138920355e-06],"object_linear_velocity_m_s":[1.7190615852321417e-16,3.978602365790693e-17,1.3860548069965151e-14],"object_angular_velocity_rad_s":[-1.4776451513054937e-15,2.519687299425279e-15,2.838094836790055e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221273659,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025088,-1.3097463880167213,-1.5707951084242977,-0.4491079361950237,0.0],"actuator_force":[-5.366018740460277e-10,-18.988043948639188,-20.286344740555705,-2.4133256391928626,0.0006091846458957662,-7.105427357601002e-13,-0.2933611131899127],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228676,1.3356012191727127,-1.3049197367389345,-1.5707963267948963,-0.4491079361950244],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.639999999997354,"joint_targets_rad":[-2.0199042629899204,-1.601477809228676,1.3356012191727127,-1.3049197367389345,-1.5707963267948963,-0.4491079361950244],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.65999999999738,"qpos":[-2.0199042629899315,-1.6014778092287518,1.3356012191729054,-1.304919736739138,-1.570796326794923,-0.4491079361950277,0.0029336111717397986,0.0001563015602098157,0.003193479468419526,-0.003429298941046118,0.002933611073932908,0.00015630110959630818,0.0031978493857961372,-0.0034379968905739783,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994006,3.499964109854512e-17,-1.131010160748795e-16,1.0951063369214537e-06],"qvel":[-1.9565212065527084e-12,3.854159001234798e-13,-1.948560544639998e-12,-1.0418477538586984e-12,-2.9694333075000677e-12,1.715402343079923e-14,-8.814188395956497e-10,-4.808022300883984e-09,4.662093018298117e-09,4.4320206176368426e-10,8.390957963942734e-10,3.1079763272840007e-09,-2.834450330542722e-09,-3.5726870181330015e-10,1.794243257546195e-16,6.21232339576583e-17,1.3384539948157116e-14,1.402889006332004e-15,1.0505675544462038e-16,5.181644463765037e-08],"joint_position_rad":[-2.0199042629899315,-1.6014778092287518,1.3356012191729054,-1.304919736739138,-1.570796326794923,-0.4491079361950277],"joint_velocity_rad_s":[-1.9565212065527084e-12,3.854159001234798e-13,-1.948560544639998e-12,-1.0418477538586984e-12,-2.9694333075000677e-12,1.715402343079923e-14],"linkage_position_rad":[0.0029336111717397986,0.0001563015602098157,0.003193479468419526,-0.003429298941046118,0.002933611073932908,0.00015630110959630818,0.0031978493857961372,-0.0034379968905739783],"tcp_position_m":[0.08125537448653723,0.4772357226219452,0.4349999999999631],"tcp_quaternion_wxyz":[-1.9933574962804745e-15,0.7071067811865499,0.7071067811865446,4.58194674226375e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994006,3.499964109854512e-17,-1.131010160748795e-16,1.0951063369214537e-06],"object_linear_velocity_m_s":[1.794243257546195e-16,6.21232339576583e-17,1.3384539948157116e-14],"object_angular_velocity_rad_s":[1.4028887645110214e-15,1.0505982444252333e-16,5.181644463765039e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284696,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025094,-1.309746388016722,-1.570795108424298,-0.4491079361950244,0.0],"actuator_force":[8.049028110690415e-10,-18.98804394865101,-20.286344740012737,-2.4133256386878656,0.0006091856095054027,-5.684341886080802e-14,-0.2933611120720201],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286759,1.335601219172712,-1.304919736738934,-1.5707963267948963,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.65999999999738,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286759,1.335601219172712,-1.304919736738934,-1.5707963267948963,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.679999999997403,"qpos":[-2.0199042629899226,-1.601477809228744,1.3356012191728897,-1.3049197367391063,-1.5707963267948954,-0.4491079361950276,0.00293361117424098,0.00015630157453542265,0.0031934794547792997,-0.0034292989424931425,0.002933611072126624,0.00015630110025937274,0.003197849394891873,-0.003437996889810848,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994004,3.8223978289525367e-17,-1.0236669361941685e-16,1.0954526772819772e-06],"qvel":[1.3884629735978356e-12,3.4048142710904156e-13,-3.242915429533355e-13,2.4866530782867734e-12,2.7260971342108793e-12,1.8599145419959992e-14,9.786145474386156e-10,4.503729314264833e-09,-4.488593216371339e-09,-2.4468432038440483e-10,-9.207665420591583e-10,-2.912197937307924e-09,2.7501092023727133e-09,2.691437544902602e-10,2.6426157259108695e-16,1.0767697044796006e-16,1.3413683302553528e-14,4.446129889175917e-15,-8.487175028149172e-15,9.460374262639132e-08],"joint_position_rad":[-2.0199042629899226,-1.601477809228744,1.3356012191728897,-1.3049197367391063,-1.5707963267948954,-0.4491079361950276],"joint_velocity_rad_s":[1.3884629735978356e-12,3.4048142710904156e-13,-3.242915429533355e-13,2.4866530782867734e-12,2.7260971342108793e-12,1.8599145419959992e-14],"linkage_position_rad":[0.00293361117424098,0.00015630157453542265,0.0031934794547792997,-0.0034292989424931425,0.002933611072126624,0.00015630110025937274,0.003197849394891873,-0.003437996889810848],"tcp_position_m":[0.08125537448652499,0.47723572262194563,0.43499999999996375],"tcp_quaternion_wxyz":[-1.1076333387390599e-14,0.7071067811865461,0.7071067811865479,3.007611061488764e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994004,3.8223978289525367e-17,-1.0236669361941685e-16,1.0954526772819772e-06],"object_linear_velocity_m_s":[2.6426157259108695e-16,1.0767697044796006e-16,1.3413683302553528e-14],"object_angular_velocity_rad_s":[4.446148464393927e-15,-8.487165294311312e-15,9.460374262639138e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221323112,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025088,-1.3097463880167215,-1.570795108424298,-0.449107936195024,0.0],"actuator_force":[-5.50699041923508e-10,-18.988043948647828,-20.286344740632103,-2.413325639056211,0.0006091850261782383,-2.842170943040401e-14,-0.2933611126076202],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727111,-1.3049197367389334,-1.5707963267948963,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.679999999997403,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727111,-1.3049197367389334,-1.5707963267948963,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.699999999997427,"qpos":[-2.019904262989925,-1.6014778092287383,1.3356012191728712,-1.304919736739094,-1.5707963267949019,-0.44910793619502715,0.0029336111713894105,0.00015630156213680235,0.0031934794676281328,-0.003429298942559815,0.0029336110748402503,0.00015630110814789027,0.003197849387222388,-0.0034379968901983547,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999994004,4.2313389502586934e-17,-1.0131748634474272e-16,1.0958115318123569e-06],"qvel":[1.7609608492305495e-12,2.9499355378048254e-13,-1.8029486022273152e-13,3.7616965618467665e-12,5.966603141577075e-12,2.609428229188909e-14,7.200193285747838e-10,3.992668520921447e-09,-3.818222865476101e-09,-3.3377558348628387e-10,-5.724366417644106e-10,-2.5760598962127253e-09,2.4385786729438747e-09,2.2493279345732934e-10,1.2383746630307172e-16,5.049988855241051e-17,1.3718994634325444e-14,-1.2594820210564448e-15,3.857683624143359e-15,1.0249540787680771e-08],"joint_position_rad":[-2.019904262989925,-1.6014778092287383,1.3356012191728712,-1.304919736739094,-1.5707963267949019,-0.44910793619502715],"joint_velocity_rad_s":[1.7609608492305495e-12,2.9499355378048254e-13,-1.8029486022273152e-13,3.7616965618467665e-12,5.966603141577075e-12,2.609428229188909e-14],"linkage_position_rad":[0.0029336111713894105,0.00015630156213680235,0.0031934794676281328,-0.003429298942559815,0.0029336110748402503,0.00015630110814789027,0.003197849387222388,-0.0034379968901983547],"tcp_position_m":[0.08125537448652832,0.477235722621946,0.43499999999996863],"tcp_quaternion_wxyz":[-8.191852265519436e-15,0.7071067811865478,0.7071067811865469,3.146342474923597e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999994004,4.2313389502586934e-17,-1.0131748634474272e-16,1.0958115318123569e-06],"object_linear_velocity_m_s":[1.2383746630307172e-16,5.049988855241051e-17,1.3718994634325444e-14],"object_angular_velocity_rad_s":[-1.259490477718739e-15,3.857680862956867e-15,1.0249540787680788e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221283669,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029995,1.325458046802508,-1.3097463880167208,-1.5707951084242977,-0.4491079361950229,0.0],"actuator_force":[-6.953086995054036e-10,-18.988043948640097,-20.286344740654386,-2.4133256391896794,0.0006091847054676691,-5.115907697472721e-13,-0.2933611130493965],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.699999999997427,"joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.71999999999745,"qpos":[-2.019904262989928,-1.6014778092287334,1.3356012191728537,-1.3049197367390872,-1.5707963267949185,-0.44910793619502715,0.002933611171449805,0.00015630155919493417,0.003193479469578579,-0.003429298941052125,0.002933611074377884,0.0001563011102383428,0.003197849385291024,-0.0034379968907057652,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993991,5.236526664440388e-17,-1.1131155160463855e-16,1.096270762910392e-06],"qvel":[2.384497228213474e-13,2.6038533937076564e-13,-8.978612827922602e-13,2.7085557677691933e-12,5.213290859591472e-12,2.5729911883819085e-14,-1.7647187593534587e-10,-6.090268091798421e-10,6.849087449877349e-10,4.9149511689110185e-11,3.34085747598068e-10,3.7566948983076563e-10,-2.0981712822386602e-10,-1.465904605117153e-10,1.4072748508206686e-16,6.595866965932674e-17,1.3442826656949937e-14,-1.3507930799697502e-15,2.959887587155367e-15,1.871307314689679e-08],"joint_position_rad":[-2.019904262989928,-1.6014778092287334,1.3356012191728537,-1.3049197367390872,-1.5707963267949185,-0.44910793619502715],"joint_velocity_rad_s":[2.384497228213474e-13,2.6038533937076564e-13,-8.978612827922602e-13,2.7085557677691933e-12,5.213290859591472e-12,2.5729911883819085e-14],"linkage_position_rad":[0.002933611171449805,0.00015630155919493417,0.003193479469578579,-0.003429298941052125,0.002933611074377884,0.0001563011102383428,0.003197849385291024,-0.0034379968907057652],"tcp_position_m":[0.0812553744865346,0.477235722621946,0.43499999999997424],"tcp_quaternion_wxyz":[-1.4104474676403844e-15,0.7071067811865489,0.7071067811865456,3.702916337180061e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993991,5.236526664440388e-17,-1.1131155160463855e-16,1.096270762910392e-06],"object_linear_velocity_m_s":[1.4072748508206686e-16,6.595866965932674e-17,1.3442826656949937e-14],"object_angular_velocity_rad_s":[-1.3507995738089102e-15,2.9598846235184974e-15,1.871307314689679e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279998,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025081,-1.3097463880167202,-1.570795108424298,-0.44910793619502365,0.0],"actuator_force":[-7.958078640513122e-11,-18.988043948636914,-20.28634474033197,-2.4133256390872475,0.000609184788913808,-8.242295734817162e-13,-0.2933611130794538],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727116,-1.304919736738933,-1.5707963267948968,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.71999999999745,"joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727116,-1.304919736738933,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.739999999997476,"qpos":[-2.0199042629899258,-1.601477809228729,1.335601219172841,-1.3049197367390744,-1.5707963267949225,-0.44910793619502715,0.002933611171957444,0.00015630156179658827,0.0031934794668566813,-0.003429298941429426,0.002933611073706144,0.00015630110855144728,0.003197849386809029,-0.003437996890368062,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993989,5.700306590281022e-17,-1.049836567381037e-16,1.0967237695663266e-06],"qvel":[-6.010094021214905e-12,3.0724956586294704e-13,-2.5075615685860508e-12,-1.1756884925637721e-11,-2.6444809842283317e-11,-9.370357289693473e-15,-2.186083566346273e-09,-1.242945533161328e-08,1.1698132490177612e-08,1.132595771707196e-09,1.479677682232909e-09,8.089707616754304e-09,-7.853915535685232e-09,-5.806005439082175e-10,1.4577179392080902e-16,8.005315398238988e-17,1.329294654862554e-14,-5.082252088626323e-16,1.9021656881157098e-15,3.416534592671981e-08],"joint_position_rad":[-2.0199042629899258,-1.601477809228729,1.335601219172841,-1.3049197367390744,-1.5707963267949225,-0.44910793619502715],"joint_velocity_rad_s":[-6.010094021214905e-12,3.0724956586294704e-13,-2.5075615685860508e-12,-1.1756884925637721e-11,-2.6444809842283317e-11,-9.370357289693473e-15],"linkage_position_rad":[0.002933611171957444,0.00015630156179658827,0.0031934794668566813,-0.003429298941429426,0.002933611073706144,0.00015630110855144728,0.003197849386809029,-0.003437996890368062],"tcp_position_m":[0.0812553744865345,0.47723572262194563,0.43499999999997674],"tcp_quaternion_wxyz":[1.3789175826709643e-15,0.7071067811865483,0.7071067811865464,3.535396598729849e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993989,5.700306590281022e-17,-1.049836567381037e-16,1.0967237695663266e-06],"object_linear_velocity_m_s":[1.4577179392080902e-16,8.005315398238988e-17,1.329294654862554e-14],"object_angular_velocity_rad_s":[-5.082293883356593e-16,1.9021645694507344e-15,3.416534592671983e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221289679,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025086,-1.3097463880167204,-1.5707951084242986,-0.449107936195024,0.0],"actuator_force":[2.4156179279088974e-09,-18.988043948664654,-20.286344739661672,-2.4133256376474037,0.0006091879564564806,2.5295321393059567e-12,-0.29336110875114996],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286757,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.4491079361950243],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.739999999997476,"joint_targets_rad":[-2.01990426298992,-1.6014778092286757,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.7599999999975,"qpos":[-2.0199042629899204,-1.6014778092287245,1.3356012191728295,-1.3049197367390506,-1.5707963267948988,-0.44910793619502715,0.0029336111721956796,0.00015630156639140138,0.003193479463560316,-0.0034292989429584035,0.002933611074139591,0.0001563011054041355,0.00319784938977081,-0.0034379968898965163,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993988,5.5284612386135826e-17,-8.78457056772429e-17,1.0970899706406956e-06],"qvel":[1.7364466638439646e-12,2.3361690606776283e-13,9.006842682063328e-14,3.0278682072096726e-12,4.5210708681653494e-12,1.6671898350330123e-14,9.274202033833575e-10,4.669086518410092e-09,-4.561685368250294e-09,-3.265623589886278e-10,-8.231797539011298e-10,-3.00712373061312e-09,2.82990138544919e-09,2.7870154246453936e-10,1.5181216641002638e-16,1.0380937546156318e-16,1.3467806675004002e-14,1.785500228982103e-15,-6.090239921062108e-16,6.237729383780924e-08],"joint_position_rad":[-2.0199042629899204,-1.6014778092287245,1.3356012191728295,-1.3049197367390506,-1.5707963267948988,-0.44910793619502715],"joint_velocity_rad_s":[1.7364466638439646e-12,2.3361690606776283e-13,9.006842682063328e-14,3.0278682072096726e-12,4.5210708681653494e-12,1.6671898350330123e-14],"linkage_position_rad":[0.0029336111721956796,0.00015630156639140138,0.003193479463560316,-0.0034292989429584035,0.002933611074139591,0.0001563011054041355,0.00319784938977081,-0.0034379968898965163],"tcp_position_m":[0.08125537448652492,0.4772357226219458,0.43499999999997774],"tcp_quaternion_wxyz":[-6.981480900240445e-15,0.7071067811865459,0.7071067811865486,2.345759128090636e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993988,5.5284612386135826e-17,-8.78457056772429e-17,1.0970899706406956e-06],"object_linear_velocity_m_s":[1.5181216641002638e-16,1.0380937546156318e-16,1.3467806675004002e-14],"object_angular_velocity_rad_s":[1.7855015543268875e-15,-6.09020081292979e-16,6.237729383780932e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221296049,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025081,-1.3097463880167202,-1.570795108424298,-0.4491079361950243,0.0],"actuator_force":[-6.934897101018578e-10,-18.988043948644645,-20.286344740678942,-2.413325639137497,0.0006091848482583373,-2.5579538487363607e-13,-0.2933611128379658],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.7599999999975,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.779999999997525,"qpos":[-2.0199042629899253,-1.60147780922872,1.335601219172816,-1.3049197367390473,-1.5707963267949128,-0.44910793619502704,0.002933611171621475,0.00015630156074035174,0.0031934794682522095,-0.003429298941275838,0.0029336110743926644,0.00015630110921879305,0.003197849386332432,-0.0034379968906641106,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993987,4.796896523601298e-17,-6.757893380836101e-17,1.09738014613316e-06],"qvel":[1.3903908424707763e-12,1.8612086795313271e-13,-1.5874082401671107e-13,3.780671538067453e-12,7.1963973788191725e-12,2.661847143758826e-14,2.9468943100280826e-10,1.9910813243745403e-09,-1.851671316445052e-09,-1.6651549101128329e-10,-1.0608271605553051e-10,-1.3008877812704906e-09,1.3399026578172298e-09,2.4212188200686314e-11,1.5171750142151232e-16,1.1492510737968059e-16,1.3548297844289324e-14,3.3992179724041652e-15,-2.8812592686870033e-15,1.1388518631932868e-07],"joint_position_rad":[-2.0199042629899253,-1.60147780922872,1.335601219172816,-1.3049197367390473,-1.5707963267949128,-0.44910793619502704],"joint_velocity_rad_s":[1.3903908424707763e-12,1.8612086795313271e-13,-1.5874082401671107e-13,3.780671538067453e-12,7.1963973788191725e-12,2.661847143758826e-14],"linkage_position_rad":[0.002933611171621475,0.00015630156074035174,0.0031934794682522095,-0.003429298941275838,0.0029336110743926644,0.00015630110921879305,0.003197849386332432,-0.0034379968906641106],"tcp_position_m":[0.08125537448653151,0.477235722621946,0.4349999999999818],"tcp_quaternion_wxyz":[-1.4591776470562338e-15,0.7071067811865479,0.7071067811865466,2.844383143742879e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993987,4.796896523601298e-17,-6.757893380836101e-17,1.09738014613316e-06],"object_linear_velocity_m_s":[1.5171750142151232e-16,1.1492510737968059e-16,1.3548297844289324e-14],"object_angular_velocity_rad_s":[3.3992242806769516e-15,-2.8812518191373637e-15,1.1388518631932886e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282894,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025077,-1.30974638801672,-1.5707951084242977,-0.4491079361950233,0.0],"actuator_force":[-5.461515684146434e-10,-18.988043948634186,-20.286344740552977,-2.413325639214463,0.0006091845879154789,-8.242295734817162e-13,-0.2933611132437406],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389327,-1.5707963267948968,-0.44910793619502387],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.779999999997525,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389327,-1.5707963267948968,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.79999999999755,"qpos":[-2.0199042629899266,-1.6014778092287156,1.3356012191728048,-1.3049197367390433,-1.5707963267949272,-0.44910793619502704,0.0029336111708400847,0.00015630155604511262,0.0031934794725728493,-0.0034292989410895703,0.002933611074775855,0.00015630111223034586,0.0031978493833924888,-0.0034379968906986936,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993975,4.5361450447725855e-17,-5.889838004808395e-17,1.0978121397723028e-06],"qvel":[-2.114382446134461e-12,2.055636624185968e-13,-1.5227416746677862e-12,-1.6463419952529215e-12,-3.142077504743604e-12,1.6731081468630863e-14,-9.98629249165184e-10,-5.323142028572864e-09,5.215812459785484e-09,4.0513090543314426e-10,9.546810726326004e-10,3.4150849385996302e-09,-3.135545851685429e-09,-3.5144821677114493e-10,7.341530331540995e-17,5.5257305204512426e-17,1.3002900783442215e-14,-1.7869961884592126e-15,2.402691347451756e-15,1.2338527312839713e-08],"joint_position_rad":[-2.0199042629899266,-1.6014778092287156,1.3356012191728048,-1.3049197367390433,-1.5707963267949272,-0.44910793619502704],"joint_velocity_rad_s":[-2.114382446134461e-12,2.055636624185968e-13,-1.5227416746677862e-12,-1.6463419952529215e-12,-3.142077504743604e-12,1.6731081468630863e-14],"linkage_position_rad":[0.0029336111708400847,0.00015630155604511262,0.0031934794725728493,-0.0034292989410895703,0.002933611074775855,0.00015630111223034586,0.0031978493833924888,-0.0034379968906986936],"tcp_position_m":[0.0812553744865364,0.47723572262194597,0.43499999999998473],"tcp_quaternion_wxyz":[5.0444956913355926e-15,0.7071067811865485,0.7071067811865458,3.224814087686089e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993975,4.5361450447725855e-17,-5.889838004808395e-17,1.0978121397723028e-06],"object_linear_velocity_m_s":[7.341530331540995e-17,5.5257305204512426e-17,1.3002900783442215e-14],"object_angular_velocity_rad_s":[-1.7870014653158013e-15,2.402687422754358e-15,1.2338527312839716e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221271415,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167202,-1.5707951084242981,-0.44910793619502387,0.0],"actuator_force":[8.581082511227578e-10,-18.988043948650557,-20.286344739985907,-2.413325638673882,0.0006091856287184783,-8.526512829121202e-14,-0.2933611120610561],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389325,-1.5707963267948963,-0.44910793619502426],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.79999999999755,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389325,-1.5707963267948963,-0.44910793619502426],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.819999999997574,"qpos":[-2.0199042629899178,-1.6014778092287112,1.3356012191727982,-1.3049197367390186,-1.570796326794897,-0.44910793619502704,0.002933611173139535,0.0001563015709036709,0.0031934794591511077,-0.0034292989433141,0.0029336110732623637,0.0001563011024855512,0.003197849392477539,-0.0034379968895804753,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993973,3.000788703905543e-17,-6.755454020285739e-17,1.0983022677368731e-06],"qvel":[1.496736624898524e-12,1.8118913491053595e-13,1.8819436521495401e-13,2.210717355781033e-12,2.99360591878088e-12,1.4288090879008637e-14,1.0590414426766426e-09,4.902094493063417e-09,-4.872728494555172e-09,-2.742789644833371e-10,-9.949955984772732e-10,-3.1548426498691788e-09,2.9690200517648607e-09,2.9657586995589094e-10,8.731075751328044e-17,3.843982558375623e-17,1.3273517645694598e-14,-1.6133496121140139e-15,1.3811580203999374e-15,2.2527035007039448e-08],"joint_position_rad":[-2.0199042629899178,-1.6014778092287112,1.3356012191727982,-1.3049197367390186,-1.570796326794897,-0.44910793619502704],"joint_velocity_rad_s":[1.496736624898524e-12,1.8118913491053595e-13,1.8819436521495401e-13,2.210717355781033e-12,2.99360591878088e-12,1.4288090879008637e-14],"linkage_position_rad":[0.002933611173139535,0.0001563015709036709,0.0031934794591511077,-0.0034292989433141,0.0029336110732623637,0.0001563011024855512,0.003197849392477539,-0.0034379968895804753],"tcp_position_m":[0.08125537448652335,0.47723572262194647,0.4349999999999833],"tcp_quaternion_wxyz":[-5.5930783506506486e-15,0.707106781186545,0.7071067811865495,1.657742362387107e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993973,3.000788703905543e-17,-6.755454020285739e-17,1.0983022677368731e-06],"object_linear_velocity_m_s":[8.731075751328044e-17,3.843982558375623e-17,1.3273517645694598e-14],"object_angular_velocity_rad_s":[-1.6133526490117e-15,1.3811544751535503e-15,2.2527035007039468e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130968,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025075,-1.30974638801672,-1.5707951084242977,-0.44910793619502426,0.0],"actuator_force":[-6.034497346263379e-10,-18.988043948649192,-20.286344740657114,-2.413325639071786,0.0006091850002576393,-2.842170943040401e-14,-0.29336111264032416],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.819999999997574,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.839999999997598,"qpos":[-2.019904262989922,-1.6014778092287068,1.3356012191727884,-1.304919736739016,-1.5707963267949072,-0.44910793619502704,0.002933611172115483,0.00015630156382539863,0.0031934794653591917,-0.0034292989416062603,0.0029336110740563106,0.00015630110722151283,0.0031978493882345435,-0.003437996890503858,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993971,2.5159035863326613e-17,-5.2583398533838985e-17,1.0987231574607857e-06],"qvel":[1.839057885456529e-12,1.2819524316484212e-13,2.5854240442311406e-13,3.622605206426995e-12,6.5587894449244e-12,2.4086884933464184e-14,6.14673497917675e-10,3.5082737007814213e-09,-3.3793098949762496e-09,-2.655269276706771e-10,-4.5678490505769676e-10,-2.274358728621423e-09,2.2137700670555414e-09,1.4590652056880826e-10,7.09293753079626e-17,3.8657786021772076e-17,1.3093106404193014e-14,-2.0367351377507044e-16,1.3379415003112618e-15,4.112867713801206e-08],"joint_position_rad":[-2.019904262989922,-1.6014778092287068,1.3356012191727884,-1.304919736739016,-1.5707963267949072,-0.44910793619502704],"joint_velocity_rad_s":[1.839057885456529e-12,1.2819524316484212e-13,2.5854240442311406e-13,3.622605206426995e-12,6.5587894449244e-12,2.4086884933464184e-14],"linkage_position_rad":[0.002933611172115483,0.00015630156382539863,0.0031934794653591917,-0.0034292989416062603,0.0029336110740563106,0.00015630110722151283,0.0031978493882345435,-0.003437996890503858],"tcp_position_m":[0.08125537448652878,0.4772357226219468,0.4349999999999856],"tcp_quaternion_wxyz":[-1.1607327150765717e-15,0.7071067811865469,0.7071067811865478,1.9480084592393986e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993971,2.5159035863326613e-17,-5.2583398533838985e-17,1.0987231574607857e-06],"object_linear_velocity_m_s":[7.09293753079626e-17,3.8657786021772076e-17,1.3093106404193014e-14],"object_angular_velocity_rad_s":[-2.036764581545674e-16,1.3379410506769006e-15,4.1128677138012124e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129135,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167195,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-7.321432349272072e-10,-18.988043948637824,-20.286344740665754,-2.4133256392140083,0.0006091846487379371,-5.684341886080801e-13,-0.2933611130980326],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.44910793619502376],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.839999999997598,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.859999999997623,"qpos":[-2.019904262989925,-1.6014778092287028,1.3356012191727795,-1.3049197367390155,-1.5707963267949219,-0.44910793619502704,0.0029336111704794947,0.00015630155484456227,0.0031934794739715768,-0.003429298941166016,0.002933611075308999,0.0001563011130009952,0.0031978493827385483,-0.0034379968908095256,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993969,1.554325467007736e-17,-2.792592615516778e-17,1.099102436380156e-06],"qvel":[2.694243203774094e-13,1.0916871825870983e-13,-5.233658244881996e-13,2.5465862887450004e-12,5.7109122974394855e-12,2.511591217452513e-14,-2.32231606364672e-10,-7.459105619111606e-10,8.859514248350524e-10,-1.7238559937011113e-11,4.0697393942775833e-10,4.5199994293074654e-10,-2.96574242767082e-10,-1.262741673471041e-10,2.7899010755774465e-17,1.2566838543697861e-17,1.2345093641351815e-14,-1.695412914692767e-15,3.4099249806580653e-15,7.50905781694951e-08],"joint_position_rad":[-2.019904262989925,-1.6014778092287028,1.3356012191727795,-1.3049197367390155,-1.5707963267949219,-0.44910793619502704],"joint_velocity_rad_s":[2.694243203774094e-13,1.0916871825870983e-13,-5.233658244881996e-13,2.5465862887450004e-12,5.7109122974394855e-12,2.511591217452513e-14],"linkage_position_rad":[0.0029336111704794947,0.00015630155484456227,0.0031934794739715768,-0.003429298941166016,0.002933611075308999,0.0001563011130009952,0.0031978493827385483,-0.0034379968908095256],"tcp_position_m":[0.08125537448653455,0.47723572262194697,0.4349999999999881],"tcp_quaternion_wxyz":[5.0115601201188495e-15,0.7071067811865479,0.7071067811865466,2.4136162024415764e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993969,1.554325467007736e-17,-2.792592615516778e-17,1.099102436380156e-06],"object_linear_velocity_m_s":[2.7899010755774465e-17,1.2566838543697861e-17,1.2345093641351815e-14],"object_angular_velocity_rad_s":[-1.6954204145963274e-15,3.4099212514505943e-15,7.509057816949524e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322126617,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.3097463880167195,-1.570795108424298,-0.44910793619502376,0.0],"actuator_force":[-9.777068044058979e-11,-18.98804394863828,-20.286344740335153,-2.413325639106688,0.0006091847409379625,-8.526512829121202e-13,-0.29336111316313634],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.859999999997623,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.879999999997647,"qpos":[-2.019904262989923,-1.6014778092286999,1.3356012191727737,-1.3049197367390093,-1.5707963267949252,-0.44910793619502704,0.0029336111706323277,0.00015630155697532227,0.003193479472365382,-0.0034292989421569934,0.002933611074994351,0.0001563011115398183,0.0031978493836365045,-0.0034379968901730126,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993958,5.342792096638001e-18,-8.14177890416858e-18,1.0993872728297166e-06],"qvel":[-6.565945182579431e-12,1.6906724354410968e-13,-2.352188495660476e-12,-1.3213259092612747e-11,-2.8824274561951607e-11,-1.2287359668832583e-14,-2.395196795374711e-09,-1.3588916159513847e-08,1.2804763017310553e-08,1.2316773904997945e-09,1.61821376578296e-09,8.807513004646942e-09,-8.562842076279337e-09,-6.27919000807773e-10,1.567181923336617e-17,8.700909832673482e-18,1.2980696322949721e-14,-5.60510371374643e-16,1.0572367965542244e-15,8.135449215347065e-09],"joint_position_rad":[-2.019904262989923,-1.6014778092286999,1.3356012191727737,-1.3049197367390093,-1.5707963267949252,-0.44910793619502704],"joint_velocity_rad_s":[-6.565945182579431e-12,1.6906724354410968e-13,-2.352188495660476e-12,-1.3213259092612747e-11,-2.8824274561951607e-11,-1.2287359668832583e-14],"linkage_position_rad":[0.0029336111706323277,0.00015630155697532227,0.003193479472365382,-0.0034292989421569934,0.002933611074994351,0.0001563011115398183,0.0031978493836365045,-0.0034379968901730126],"tcp_position_m":[0.0812553744865344,0.4772357226219471,0.434999999999989],"tcp_quaternion_wxyz":[7.100128636500492e-15,0.7071067811865472,0.7071067811865477,2.3086856583760882e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993958,5.342792096638001e-18,-8.14177890416858e-18,1.0993872728297166e-06],"object_linear_velocity_m_s":[1.567181923336617e-17,8.700909832673482e-18,1.2980696322949721e-14],"object_angular_velocity_rad_s":[-5.605126961311193e-16,1.0572355640287998e-15,8.135449215347066e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322127304,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.3097463880167197,-1.5707951084242981,-0.449107936195024,0.0],"actuator_force":[2.6325324142817408e-09,-18.988043948667837,-20.28634473959164,-2.4133256375338306,0.0006091881958809608,2.7569058147491887e-12,-0.29336110839641877],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727114,-1.3049197367389325,-1.5707963267948966,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.879999999997647,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727114,-1.3049197367389325,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.89999999999767,"qpos":[-2.0199042629899195,-1.6014778092286983,1.3356012191727684,-1.304919736738993,-1.5707963267949014,-0.44910793619502704,0.0029336111728289335,0.00015630156772616718,0.0031934794616094,-0.003429298941961296,0.002933611073456173,0.00015630110470659758,0.003197849390609786,-0.0034379968902570413,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993957,9.635188346831229e-18,-8.016358230420253e-19,1.0998496132750485e-06],"qvel":[1.8534590140764858e-12,8.954784768371743e-14,4.4195489230959007e-13,2.973774875202359e-12,5.027020838356428e-12,2.018957469551065e-14,8.305573146831399e-10,4.300902603556159e-09,-4.217768795337128e-09,-2.89338556688999e-10,-7.179588291071273e-10,-2.7837746705616905e-09,2.661235905573502e-09,2.206545901848679e-10,2.8797979360007233e-18,1.239726109912213e-17,1.2651792751904519e-14,-2.574021324055995e-16,2.01322926314737e-16,1.4853275810427779e-08],"joint_position_rad":[-2.0199042629899195,-1.6014778092286983,1.3356012191727684,-1.304919736738993,-1.5707963267949014,-0.44910793619502704],"joint_velocity_rad_s":[1.8534590140764858e-12,8.954784768371743e-14,4.4195489230959007e-13,2.973774875202359e-12,5.027020838356428e-12,2.018957469551065e-14],"linkage_position_rad":[0.0029336111728289335,0.00015630156772616718,0.0031934794616094,-0.003429298941961296,0.002933611073456173,0.00015630110470659758,0.003197849390609786,-0.0034379968902570413],"tcp_position_m":[0.0812553744865258,0.4772357226219473,0.4349999999999892],"tcp_quaternion_wxyz":[-2.0682528450553933e-15,0.7071067811865456,0.7071067811865489,1.3395881269420743e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993957,9.635188346831229e-18,-8.016358230420253e-19,1.0998496132750485e-06],"object_linear_velocity_m_s":[2.8797979360007233e-18,1.239726109912213e-17,1.2651792751904519e-14],"object_angular_velocity_rad_s":[-2.574025752786759e-16,2.0132235982075035e-16,1.4853275810427795e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221302627,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030006,1.3254580468025083,-1.3097463880167197,-1.570795108424298,-0.4491079361950236,0.0],"actuator_force":[-7.430571713484824e-10,-18.988043948640552,-20.286344740697132,-2.413325639160689,0.0006091847990319366,-2.8421709430404007e-13,-0.29336111287724775],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.89999999999767,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.919999999997696,"qpos":[-2.0199042629899226,-1.6014778092286972,1.335601219172761,-1.3049197367389942,-1.5707963267949139,-0.4491079361950269,0.0029336111706341817,0.00015630155647297354,0.0031934794726198746,-0.0034292989414755307,0.002933611075360369,0.0001563011119290652,0.003197849383807557,-0.0034379968907334185,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993955,2.398961306720589e-17,1.2391701685359964e-17,1.1003116567570344e-06],"qvel":[1.5193257159061711e-12,6.699214105038374e-14,1.6558667408524233e-13,3.8173836988973955e-12,7.841595516957297e-12,2.6351585184593885e-14,2.807442065545177e-10,2.091691040860911e-09,-1.878796861249544e-09,-2.457059662909629e-10,-7.242520881159832e-11,-1.3708523005002048e-09,1.3820136210696496e-09,5.550383160109037e-11,-1.5755976475591533e-17,3.0666175259338916e-17,1.2417258137952457e-14,3.901467661642373e-16,6.782253581453835e-16,2.711833071054654e-08],"joint_position_rad":[-2.0199042629899226,-1.6014778092286972,1.335601219172761,-1.3049197367389942,-1.5707963267949139,-0.4491079361950269],"joint_velocity_rad_s":[1.5193257159061711e-12,6.699214105038374e-14,1.6558667408524233e-13,3.8173836988973955e-12,7.841595516957297e-12,2.6351585184593885e-14],"linkage_position_rad":[0.0029336111706341817,0.00015630155647297354,0.0031934794726198746,-0.0034292989414755307,0.002933611075360369,0.0001563011119290652,0.003197849383807557,-0.0034379968907334185],"tcp_position_m":[0.08125537448653092,0.4772357226219472,0.43499999999999195],"tcp_quaternion_wxyz":[2.512454770553292e-15,0.7071067811865469,0.7071067811865478,1.8734696586616245e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993955,2.398961306720589e-17,1.2391701685359964e-17,1.1003116567570344e-06],"object_linear_velocity_m_s":[-1.5755976475591533e-17,3.0666175259338916e-17,1.2417258137952457e-14],"object_angular_velocity_rad_s":[3.9014527431684424e-16,6.782262154086959e-16,2.7118330710546582e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221269239,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.3097463880167193,-1.5707951084242977,-0.4491079361950234,0.0],"actuator_force":[-6.029949872754514e-10,-18.98804394863282,-20.28634474057344,-2.413325639244249,0.0006091845239097893,-8.810729923425242e-13,-0.29336111334132253],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.919999999997696,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.93999999999772,"qpos":[-2.0199042629899244,-1.601477809228696,1.3356012191727553,-1.3049197367389955,-1.570796326794929,-0.4491079361950268,0.002933611169412843,0.00015630155071023088,0.003193479478591613,-0.003429298941790128,0.002933611076163167,0.0001563011155470879,0.0031978493798928836,-0.0034379968905352103,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993943,2.809957140101975e-17,2.716048346601083e-17,1.1006983743823822e-06],"qvel":[-2.3119373886701314e-12,1.0510490908176693e-13,-1.3707820367558096e-12,-2.0759421979694047e-12,-3.4186239274301065e-12,1.7882620269633932e-14,-1.0958111527139237e-09,-5.823917723464406e-09,5.71902208772588e-09,4.363085974055487e-10,1.0478682186784244e-09,3.7227807436973313e-09,-3.427251812538953e-09,-3.8108878739330487e-10,-4.093229081307067e-17,4.6547913875168325e-17,1.2386727004775264e-14,6.899122986246777e-16,1.9134669542967676e-15,4.9511223646051055e-08],"joint_position_rad":[-2.0199042629899244,-1.601477809228696,1.3356012191727553,-1.3049197367389955,-1.570796326794929,-0.4491079361950268],"joint_velocity_rad_s":[-2.3119373886701314e-12,1.0510490908176693e-13,-1.3707820367558096e-12,-2.0759421979694047e-12,-3.4186239274301065e-12,1.7882620269633932e-14],"linkage_position_rad":[0.002933611169412843,0.00015630155071023088,0.003193479478591613,-0.003429298941790128,0.002933611076163167,0.0001563011155470879,0.0031978493798928836,-0.0034379968905352103],"tcp_position_m":[0.08125537448653604,0.47723572262194675,0.4349999999999946],"tcp_quaternion_wxyz":[8.60206191443232e-15,0.7071067811865478,0.7071067811865469,2.4020209085502597e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993943,2.809957140101975e-17,2.716048346601083e-17,1.1006983743823822e-06],"object_linear_velocity_m_s":[-4.093229081307067e-17,4.6547913875168325e-17,1.2386727004775264e-14],"object_angular_velocity_rad_s":[6.899080890125745e-16,1.9134684702803373e-15,4.9511223646051055e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221253342,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025068,-1.3097463880167188,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[9.331415640190244e-10,-18.988043948649647,-20.286344739948618,-2.4133256386541007,0.0006091856572538745,-8.526512829121202e-14,-0.2933611120390858],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.93999999999772,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.959999999997745,"qpos":[-2.019904262989917,-1.6014778092286954,1.3356012191727529,-1.304919736738976,-1.5707963267948988,-0.4491079361950268,0.0029336111736903174,0.00015630157198831313,0.0031934794574384035,-0.003429298942288571,0.002933611072666868,0.00015630110195992433,0.0031978493931778397,-0.003437996889978045,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999394,3.113281491569823e-17,3.518011491333424e-17,1.1010293066794057e-06],"qvel":[1.6292200135108971e-12,8.738691740862648e-14,4.662033582328023e-13,2.2047591866432064e-12,3.403554199347213e-12,1.6586944289401657e-14,9.703325498097275e-10,4.617483778697379e-09,-4.5955234601328075e-09,-2.626427138727811e-10,-8.996933238724033e-10,-2.988769039747357e-09,2.840917142191571e-09,2.571293030601739e-10,-9.645751980112361e-17,9.99338501928519e-17,1.3100045298096929e-14,4.73387784155558e-15,4.517734701218322e-15,9.03949912365384e-08],"joint_position_rad":[-2.019904262989917,-1.6014778092286954,1.3356012191727529,-1.304919736738976,-1.5707963267948988,-0.4491079361950268],"joint_velocity_rad_s":[1.6292200135108971e-12,8.738691740862648e-14,4.662033582328023e-13,2.2047591866432064e-12,3.403554199347213e-12,1.6586944289401657e-14],"linkage_position_rad":[0.0029336111736903174,0.00015630157198831313,0.0031934794574384035,-0.003429298942288571,0.002933611072666868,0.00015630110195992433,0.0031978493931778397,-0.003437996889978045],"tcp_position_m":[0.08125537448652354,0.4772357226219467,0.43499999999999345],"tcp_quaternion_wxyz":[-2.641193584689372e-15,0.707106781186545,0.7071067811865499,1.067868814313962e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999394,3.113281491569823e-17,3.518011491333424e-17,1.1010293066794057e-06],"object_linear_velocity_m_s":[-9.645751980112361e-17,9.99338501928519e-17,1.3100045298096929e-14],"object_angular_velocity_rad_s":[4.7338678995877114e-15,4.517745119855352e-15,9.039499123653844e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221315503,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025077,-1.3097463880167197,-1.5707951084242986,-0.44910793619502365,0.0],"actuator_force":[-6.580194167327136e-10,-18.988043948644645,-20.286344740677123,-2.4133256390922497,0.0006091849596714383,-5.684341886080802e-14,-0.2933611126710554],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.959999999997745,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.97999999999777,"qpos":[-2.0199042629899195,-1.6014778092286945,1.3356012191727469,-1.3049197367389769,-1.570796326794907,-0.4491079361950268,0.0029336111711354973,0.00015630155977307335,0.003193479469592975,-0.0034292989418838286,0.0029336110750330675,0.0001563011098027983,0.0031978493858079923,-0.0034379968905292224,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999394,3.607539665575977e-17,3.946026428247078e-17,1.10137219641324e-06],"qvel":[2.0092756556590128e-12,6.035905218813235e-14,5.408133881221399e-13,3.727019800644784e-12,7.143596163712325e-12,2.396529769352747e-14,6.29804562454111e-10,3.749192391346482e-09,-3.5480366235541113e-09,-3.489652140368833e-10,-4.550915804574776e-10,-2.4309804834632264e-09,2.331031609100999e-09,1.8517273447760272e-10,-4.654490087681083e-17,4.441049654603224e-17,1.2725345027285938e-14,-1.3857322259711759e-15,-1.3455256422255174e-15,9.79355704076004e-09],"joint_position_rad":[-2.0199042629899195,-1.6014778092286945,1.3356012191727469,-1.3049197367389769,-1.570796326794907,-0.4491079361950268],"joint_velocity_rad_s":[2.0092756556590128e-12,6.035905218813235e-14,5.408133881221399e-13,3.727019800644784e-12,7.143596163712325e-12,2.396529769352747e-14],"linkage_position_rad":[0.0029336111711354973,0.00015630155977307335,0.003193479469592975,-0.0034292989418838286,0.0029336110750330675,0.0001563011098027983,0.0031978493858079923,-0.0034379968905292224],"tcp_position_m":[0.0812553744865272,0.47723572262194686,0.4349999999999959],"tcp_quaternion_wxyz":[3.571593096620047e-16,0.707106781186546,0.7071067811865489,1.470318028740871e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999394,3.607539665575977e-17,3.946026428247078e-17,1.10137219641324e-06],"object_linear_velocity_m_s":[-4.654490087681083e-17,4.441049654603224e-17,1.2725345027285938e-14],"object_angular_velocity_rad_s":[-1.3857292613458382e-15,-1.3455286953427573e-15,9.793557040760052e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221278093,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025077,-1.3097463880167193,-1.570795108424298,-0.4491079361950232,0.0],"actuator_force":[-8.04448063718155e-10,-18.98804394863555,-20.286344740694858,-2.413325639243908,0.0006091845900755288,-5.968558980384842e-13,-0.29336111318199315],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.97999999999777,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":16.999999999997794,"qpos":[-2.0199042629899244,-1.6014778092286939,1.3356012191727413,-1.3049197367389818,-1.570796326794924,-0.4491079361950268,0.002933611170565972,0.0001563015532963373,0.0031934794746837024,-0.003429298940147868,0.002933611075150988,0.00015630111410826626,0.003197849382159012,-0.0034379968913273557,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993938,3.4763826787719774e-17,3.787141308667674e-17,1.1018666140273348e-06],"qvel":[3.532098091444947e-13,5.215235597773869e-14,-3.1251766633619466e-13,2.6105490954609036e-12,6.2530806993676154e-12,2.55394259231351e-14,-3.459040130943714e-10,-1.207763898900293e-09,1.3706407322443599e-09,-6.094168516005038e-11,5.362600968952311e-10,7.389950914840959e-10,-5.399554788699228e-10,-1.4368354263400582e-10,-4.5006819200820156e-17,4.171495147494278e-17,1.2358971429159637e-14,-1.1911787164976461e-15,-1.3104794126125593e-15,1.78805619752577e-08],"joint_position_rad":[-2.0199042629899244,-1.6014778092286939,1.3356012191727413,-1.3049197367389818,-1.570796326794924,-0.4491079361950268],"joint_velocity_rad_s":[3.532098091444947e-13,5.215235597773869e-14,-3.1251766633619466e-13,2.6105490954609036e-12,6.2530806993676154e-12,2.55394259231351e-14],"linkage_position_rad":[0.002933611170565972,0.0001563015532963373,0.0031934794746837024,-0.003429298940147868,0.002933611075150988,0.00015630111410826626,0.003197849382159012,-0.0034379968913273557],"tcp_position_m":[0.08125537448653447,0.4772357226219465,0.43499999999999894],"tcp_quaternion_wxyz":[6.792437454971817e-15,0.7071067811865478,0.7071067811865467,2.2335076192382143e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993938,3.4763826787719774e-17,3.787141308667674e-17,1.1018666140273348e-06],"object_linear_velocity_m_s":[-4.5006819200820156e-17,4.171495147494278e-17,1.2358971429159637e-14],"object_angular_velocity_rad_s":[-1.1911758271934038e-15,-1.3104820388926893e-15,1.7880561975257733e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263364,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.3254580468025077,-1.3097463880167195,-1.570795108424298,-0.4491079361950236,0.0],"actuator_force":[-1.3324097380973399e-10,-18.988043948634186,-20.28634474034243,-2.41332563912988,0.0006091846878462093,-9.379164112033322e-13,-0.2933611132376284],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.4491079361950243],"issued_gripper_0_255":0.0,"command":{"t_seconds":16.999999999997794,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.019999999997818,"qpos":[-2.019904262989923,-1.6014778092286932,1.335601219172739,-1.304919736738979,-1.5707963267949292,-0.4491079361950268,0.0029336111712317736,0.00015630155709003512,0.003193479470985198,-0.003429298940720532,0.002933611074290075,0.0001563011116123447,0.003197849384207754,-0.0034379968908105282,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993926,3.0591005777617855e-17,4.405095584596854e-17,1.1022994672269687e-06],"qvel":[-6.852326106899061e-12,1.2567831453735889e-13,-2.2775127058783404e-12,-1.401959565568612e-11,-3.01922254216429e-11,-1.6537752849009295e-14,-2.645658237110827e-09,-1.509350202418838e-08,1.4184261987991143e-08,1.2548341040903932e-09,1.8220979844596142e-09,9.758269625689127e-09,-9.364724456111274e-09,-6.720839396634595e-10,-6.379538571331998e-17,4.1988776803183765e-17,1.2687875000204839e-14,-7.744110998593396e-16,5.350881975979917e-17,3.264539076255622e-08],"joint_position_rad":[-2.019904262989923,-1.6014778092286932,1.335601219172739,-1.304919736738979,-1.5707963267949292,-0.4491079361950268],"joint_velocity_rad_s":[-6.852326106899061e-12,1.2567831453735889e-13,-2.2775127058783404e-12,-1.401959565568612e-11,-3.01922254216429e-11,-1.6537752849009295e-14],"linkage_position_rad":[0.0029336111712317736,0.00015630155709003512,0.003193479470985198,-0.003429298940720532,0.002933611074290075,0.0001563011116123447,0.003197849384207754,-0.0034379968908105282],"tcp_position_m":[0.08125537448653503,0.47723572262194597,0.4349999999999993],"tcp_quaternion_wxyz":[9.271501845129119e-15,0.7071067811865471,0.7071067811865476,2.271587513929816e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993926,3.0591005777617855e-17,4.405095584596854e-17,1.1022994672269687e-06],"object_linear_velocity_m_s":[-6.379538571331998e-17,4.1988776803183765e-17,1.2687875000204839e-14],"object_angular_velocity_rad_s":[-7.744112149468213e-16,5.350711049647607e-17,3.2645390762556225e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322127664,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.30974638801672,-1.5707951084242981,-0.4491079361950243,0.0],"actuator_force":[2.746219252003357e-09,-18.988043948664654,-20.286344739552078,-2.4133256374684606,0.0006091883346925897,2.8990143619012088e-12,-0.29336110815829114],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.019999999997818,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.039999999997843,"qpos":[-2.019904262989917,-1.6014778092286928,1.335601219172738,-1.3049197367389636,-1.570796326794902,-0.4491079361950268,0.002933611171916937,0.00015630156404815388,0.003193479465486829,-0.0034292989423004997,0.002933611074379503,0.00015630110696635623,0.003197849388508248,-0.003437996890274476,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993924,1.6757978952389498e-17,5.635696675362954e-17,1.1027039808562676e-06],"qvel":[2.027584677723975e-12,6.760387693627391e-14,6.713497032307996e-13,3.0892987118777565e-12,5.491939014160874e-12,2.0500762990297436e-14,8.616471860269739e-10,4.607877596466842e-09,-4.451577025721854e-09,-3.728543373000708e-10,-7.358224805573163e-10,-2.9728339676324793e-09,2.8018809665795914e-09,2.650829585875076e-10,-1.0589184837017286e-16,1.928282726815933e-17,1.3209679821778666e-14,-1.7296292990157933e-15,3.0213756478956676e-15,5.960223954452628e-08],"joint_position_rad":[-2.019904262989917,-1.6014778092286928,1.335601219172738,-1.3049197367389636,-1.570796326794902,-0.4491079361950268],"joint_velocity_rad_s":[2.027584677723975e-12,6.760387693627391e-14,6.713497032307996e-13,3.0892987118777565e-12,5.491939014160874e-12,2.0500762990297436e-14],"linkage_position_rad":[0.002933611171916937,0.00015630156404815388,0.003193479465486829,-0.0034292989423004997,0.002933611074379503,0.00015630110696635623,0.003197849388508248,-0.003437996890274476],"tcp_position_m":[0.0812553744865243,0.47723572262194613,0.434999999999998],"tcp_quaternion_wxyz":[-8.945127478948285e-16,0.7071067811865448,0.7071067811865497,1.1066162822628908e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993924,1.6757978952389498e-17,5.635696675362954e-17,1.1027039808562676e-06],"object_linear_velocity_m_s":[-1.0589184837017286e-16,1.928282726815933e-17,1.3209679821778666e-14],"object_angular_velocity_rad_s":[-1.7296359556594922e-15,3.0213718313524765e-15,5.960223954452632e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221289803,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.4491079361950233,0.0],"actuator_force":[-8.17180989542976e-10,-18.98804394864146,-20.28634474073033,-2.41332563918661,0.0006091847527613936,-3.126388037344441e-13,-0.2933611129439455],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.039999999997843,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.059999999997867,"qpos":[-2.0199042629899226,-1.601477809228692,1.3356012191727336,-1.3049197367389684,-1.5707963267949163,-0.4491079361950268,0.0029336111706385975,0.0001563015546626539,0.003193479473641371,-0.0034292989405273213,0.0029336110753037906,0.00015630111311728902,0.0031978493831707052,-0.0034379968912740763,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993923,4.98625851465682e-18,5.299137363893892e-17,1.1029812469598078e-06],"qvel":[1.6900837488197283e-12,3.831474452808969e-14,3.656597333409169e-13,4.009655049983578e-12,8.509351369470132e-12,2.7499490356507252e-14,1.9638833812619753e-10,1.8741167397577143e-09,-1.6041919236951774e-09,-3.1915770616255424e-10,3.073296308471582e-11,-1.237631086074684e-09,1.2573288553165389e-09,5.95922397183648e-11,-1.0040669600776944e-16,-2.207669544810755e-17,1.2640690521658271e-14,-4.058961629022756e-15,1.5290928396927754e-15,1.0881863796825851e-07],"joint_position_rad":[-2.0199042629899226,-1.601477809228692,1.3356012191727336,-1.3049197367389684,-1.5707963267949163,-0.4491079361950268],"joint_velocity_rad_s":[1.6900837488197283e-12,3.831474452808969e-14,3.656597333409169e-13,4.009655049983578e-12,8.509351369470132e-12,2.7499490356507252e-14],"linkage_position_rad":[0.0029336111706385975,0.0001563015546626539,0.003193479473641371,-0.0034292989405273213,0.0029336110753037906,0.00015630111311728902,0.0031978493831707052,-0.0034379968912740763],"tcp_position_m":[0.08125537448653093,0.47723572262194597,0.4350000000000003],"tcp_quaternion_wxyz":[4.2847974570416385e-15,0.7071067811865469,0.7071067811865478,1.7461139202879792e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993923,4.98625851465682e-18,5.299137363893892e-17,1.1029812469598078e-06],"object_linear_velocity_m_s":[-1.0040669600776944e-16,-2.207669544810755e-17,1.2640690521658271e-14],"object_angular_velocity_rad_s":[-4.0589649906014385e-15,1.5290838846867556e-15,1.0881863796825863e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221264756,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025075,-1.3097463880167193,-1.5707951084242977,-0.44910793619502315,0.0],"actuator_force":[-6.707523425575346e-10,-18.988043948631457,-20.286344740598906,-2.4133256392764224,0.0006091844583124839,-9.379164112033322e-13,-0.2933611134327259],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.059999999997867,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.07999999999789,"qpos":[-2.0199042629899258,-1.6014778092286914,1.3356012191727302,-1.3049197367389729,-1.5707963267949328,-0.4491079361950268,0.0029336111698294214,0.00015630154984236475,0.0031934794781930276,-0.0034292989403910934,0.0029336110756422984,0.00015630111615708804,0.0031978493800448203,-0.003437996891210496,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993923,-9.210906427990126e-18,4.2978044192027933e-17,1.1033940219742053e-06],"qvel":[-2.349729297358121e-12,7.532219353573501e-14,-1.2800995733502692e-12,-2.2081687858103774e-12,-3.3619012306362814e-12,1.7738829120521397e-14,-1.279522731310386e-09,-6.754793880527718e-09,6.637900342734403e-09,3.9645258898234153e-10,1.2332923413342496e-09,4.293491559475917e-09,-3.908844336265438e-09,-4.054579081104726e-10,-5.1994534989537657e-17,-7.542966043583168e-18,1.2285419153778221e-14,-2.579639592276698e-16,-1.7678647107206144e-15,1.1789608289814395e-08],"joint_position_rad":[-2.0199042629899258,-1.6014778092286914,1.3356012191727302,-1.3049197367389729,-1.5707963267949328,-0.4491079361950268],"joint_velocity_rad_s":[-2.349729297358121e-12,7.532219353573501e-14,-1.2800995733502692e-12,-2.2081687858103774e-12,-3.3619012306362814e-12,1.7738829120521397e-14],"linkage_position_rad":[0.0029336111698294214,0.00015630154984236475,0.0031934794781930276,-0.0034292989403910934,0.0029336110756422984,0.00015630111615708804,0.0031978493800448203,-0.003437996891210496],"tcp_position_m":[0.0812553744865371,0.47723572262194563,0.43500000000000205],"tcp_quaternion_wxyz":[1.0795092809903084e-14,0.7071067811865483,0.7071067811865464,2.3546393761541965e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993923,-9.210906427990126e-18,4.2978044192027933e-17,1.1033940219742053e-06],"object_linear_velocity_m_s":[-5.1994534989537657e-17,-7.542966043583168e-18,1.2285419153778221e-14],"object_angular_velocity_rad_s":[-2.579600569109469e-16,-1.7678652797709072e-15,1.1789608289814418e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221252753,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167193,-1.5707951084242981,-0.4491079361950235,0.0],"actuator_force":[9.5042196335271e-10,-18.98804394864692,-20.286344739934066,-2.4133256386523954,0.0006091856535022089,-8.526512829121202e-14,-0.29336111204243404],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502437],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.07999999999789,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502437],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.099999999997916,"qpos":[-2.0199042629899155,-1.601477809228691,1.3356012191727316,-1.3049197367389536,-1.5707963267948983,-0.4491079361950268,0.0029336111728172484,0.0001563015685861387,0.0031934794611147843,-0.003429298942721563,0.0029336110735635763,0.00015630110399883482,0.003197849391263659,-0.0034379968899613217,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993909,-1.4726392209334598e-17,3.8451039445819087e-17,1.1038623450218139e-06],"qvel":[1.7860348678092656e-12,7.234921370718934e-14,6.507124633514933e-13,2.2972945361133476e-12,3.733852893363331e-12,1.2871950430047987e-14,1.016175533474841e-09,4.964358532548669e-09,-4.8779469809979925e-09,-3.383576695019034e-10,-9.363286612742124e-10,-3.1955199117635436e-09,2.9967749250100334e-09,3.0271076797468115e-10,-4.8698410364183853e-17,-1.6442236699340934e-17,1.2872449578048772e-14,1.9073231417666655e-17,-1.259500594963009e-15,2.1524847490310832e-08],"joint_position_rad":[-2.0199042629899155,-1.601477809228691,1.3356012191727316,-1.3049197367389536,-1.5707963267948983,-0.4491079361950268],"joint_velocity_rad_s":[1.7860348678092656e-12,7.234921370718934e-14,6.507124633514933e-13,2.2972945361133476e-12,3.733852893363331e-12,1.2871950430047987e-14],"linkage_position_rad":[0.0029336111728172484,0.0001563015685861387,0.0031934794611147843,-0.003429298942721563,0.0029336110735635763,0.00015630110399883482,0.003197849391263659,-0.0034379968899613217],"tcp_position_m":[0.08125537448652201,0.47723572262194547,0.4349999999999994],"tcp_quaternion_wxyz":[-1.9034688814145502e-15,0.7071067811865439,0.7071067811865501,8.161937435142144e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993909,-1.4726392209334598e-17,3.8451039445819087e-17,1.1038623450218139e-06],"object_linear_velocity_m_s":[-4.8698410364183853e-17,-1.6442236699340934e-17,1.2872449578048772e-14],"object_angular_velocity_rad_s":[1.9076013703485624e-17,-1.2595005522175278e-15,2.152484749031084e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130299,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.44910793619502437,0.0],"actuator_force":[-7.239577826112509e-10,-18.988043948647373,-20.2863447407085,-2.4133256391125997,0.0006091849267022553,-5.684341886080802e-14,-0.2933611127182756],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.099999999997916,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.11999999999794,"qpos":[-2.019904262989921,-1.6014778092286903,1.3356012191727271,-1.304919736738957,-1.570796326794908,-0.4491079361950267,0.0029336111710804172,0.00015630155786349584,0.0031934794707969075,-0.0034292989410282314,0.0029336110750538677,0.00015630111099435785,0.003197849385172393,-0.003437996891061994,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993907,-7.680037782660168e-18,3.974155252926356e-17,1.1043206646617646e-06],"qvel":[2.2118608919890085e-12,4.276612771743107e-14,7.205174039217668e-13,3.948819753025974e-12,7.753943748870712e-12,2.4938014587333547e-14,5.677129946450941e-10,3.6942469963118163e-09,-3.4177018252136575e-09,-4.404368429990277e-10,-3.7598536525155627e-10,-2.395583721957142e-09,2.277487635938707e-09,2.0584863724862446e-10,-5.723758957782512e-17,-8.197001568653818e-18,1.290991960512987e-14,6.699008233440428e-16,-1.3464973648187267e-16,3.9298935816337693e-08],"joint_position_rad":[-2.019904262989921,-1.6014778092286903,1.3356012191727271,-1.304919736738957,-1.570796326794908,-0.4491079361950267],"joint_velocity_rad_s":[2.2118608919890085e-12,4.276612771743107e-14,7.205174039217668e-13,3.948819753025974e-12,7.753943748870712e-12,2.4938014587333547e-14],"linkage_position_rad":[0.0029336111710804172,0.00015630155786349584,0.0031934794707969075,-0.0034292989410282314,0.0029336110750538677,0.00015630111099435785,0.003197849385172393,-0.003437996891061994],"tcp_position_m":[0.08125537448652785,0.47723572262194563,0.4350000000000014],"tcp_quaternion_wxyz":[1.5118553851020977e-15,0.7071067811865465,0.7071067811865482,1.2936467858964046e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993907,-7.680037782660168e-18,3.974155252926356e-17,1.1043206646617646e-06],"object_linear_velocity_m_s":[-5.723758957782512e-17,-8.197001568653818e-18,1.290991960512987e-14],"object_angular_velocity_rad_s":[6.699011238589833e-16,-1.3464825630726134e-16,3.9298935816337726e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221272451,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029992,1.3254580468025068,-1.3097463880167188,-1.5707951084242977,-0.44910793619502304,0.0],"actuator_force":[-8.840288501232862e-10,-18.988043948635095,-20.286344740728964,-2.4133256392757403,0.0006091845298215048,-6.821210263296962e-13,-0.2933611132653524],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.11999999999794,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.139999999997965,"qpos":[-2.0199042629899253,-1.6014778092286897,1.3356012191727233,-1.304919736738963,-1.5707963267949252,-0.4491079361950267,0.00293361116930155,0.00015630154796860562,0.003193479480345633,-0.0034292989405581287,0.0029336110763783876,0.0001563011172787047,0.0031978493791013536,-0.0034379968913459354,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993906,-2.3224901248978715e-19,4.27911476621262e-17,1.1046830701400346e-06],"qvel":[4.065542080963796e-13,3.2399724068806637e-14,-2.2679608434977305e-13,2.743743723294857e-12,6.8190318267135496e-12,2.7127590788641282e-14,-3.9713809939669163e-10,-1.3568625081362318e-09,1.5756593217740294e-09,-1.0544081739851012e-10,6.087538191156876e-10,8.203988275636355e-10,-6.223476586418885e-10,-1.4002565770510103e-10,-1.051329620672932e-16,-1.2439926786846753e-18,1.2561587131153727e-14,1.3215072109108416e-15,3.1295761003366257e-15,7.174993258334971e-08],"joint_position_rad":[-2.0199042629899253,-1.6014778092286897,1.3356012191727233,-1.304919736738963,-1.5707963267949252,-0.4491079361950267],"joint_velocity_rad_s":[4.065542080963796e-13,3.2399724068806637e-14,-2.2679608434977305e-13,2.743743723294857e-12,6.8190318267135496e-12,2.7127590788641282e-14],"linkage_position_rad":[0.00293361116930155,0.00015630154796860562,0.003193479480345633,-0.0034292989405581287,0.0029336110763783876,0.0001563011172787047,0.0031978493791013536,-0.0034379968913459354],"tcp_position_m":[0.0812553744865347,0.4772357226219454,0.4350000000000037],"tcp_quaternion_wxyz":[8.139329828565049e-15,0.7071067811865481,0.7071067811865466,2.0211027701551305e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993906,-2.3224901248978715e-19,4.27911476621262e-17,1.1046830701400346e-06],"object_linear_velocity_m_s":[-1.051329620672932e-16,-1.2439926786846753e-18,1.2561587131153727e-14],"object_angular_velocity_rad_s":[1.3215003026686727e-15,3.1295790200556124e-15,7.174993258334981e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221244231,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.309746388016719,-1.570795108424298,-0.44910793619502326,0.0],"actuator_force":[-1.5188561519607902e-10,-18.98804394863282,-20.28634474034243,-2.4133256391522764,0.0006091846316849114,-9.947598300641403e-13,-0.2933611133420755],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950239],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.139999999997965,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.15999999999799,"qpos":[-2.019904262989914,-1.6014778092286892,1.3356012191727258,-1.3049197367389453,-1.5707963267948948,-0.4491079361950267,0.002933611173818336,0.00015630157321047227,0.003193479456577762,-0.0034292989430678806,0.0029336110726094233,0.00015630110100921905,0.0031978493940388888,-0.0034379968896342183,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993895,4.459728681529011e-18,4.086032351481566e-17,1.104955234725146e-06],"qvel":[1.4248038391794139e-12,7.575469255936822e-14,5.514559843689629e-13,1.537408290917735e-12,2.2021027181356962e-12,1.3042003401553746e-14,1.1086686707819034e-09,4.987398979047556e-09,-4.978646920885587e-09,-2.702807438545282e-10,-1.0653688681655861e-09,-3.2098662835515105e-09,3.013654595341176e-09,3.072529429501922e-10,-4.9028358086236495e-17,2.3791733058239006e-18,1.2253500241820247e-14,-3.093716667311532e-17,-1.5548083231789706e-15,7.773517623193889e-09],"joint_position_rad":[-2.019904262989914,-1.6014778092286892,1.3356012191727258,-1.3049197367389453,-1.5707963267948948,-0.4491079361950267],"joint_velocity_rad_s":[1.4248038391794139e-12,7.575469255936822e-14,5.514559843689629e-13,1.537408290917735e-12,2.2021027181356962e-12,1.3042003401553746e-14],"linkage_position_rad":[0.002933611173818336,0.00015630157321047227,0.003193479456577762,-0.0034292989430678806,0.0029336110726094233,0.00015630110100921905,0.0031978493940388888,-0.0034379968896342183],"tcp_position_m":[0.08125537448652038,0.47723572262194563,0.4350000000000004],"tcp_quaternion_wxyz":[-2.9229944898552154e-15,0.707106781186544,0.7071067811865507,5.488235593310256e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993895,4.459728681529011e-18,4.086032351481566e-17,1.104955234725146e-06],"object_linear_velocity_m_s":[-4.9028358086236495e-17,2.3791733058239006e-18,1.2253500241820247e-14],"object_angular_velocity_rad_s":[-3.093373005059143e-17,-1.5548083916128772e-15,7.773517623193887e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221317032,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167195,-1.5707951084242981,-0.4491079361950239,0.0],"actuator_force":[-5.820766091346741e-10,-18.988043948651466,-20.286344740657114,-2.4133256390407496,0.0006091850781331232,8.526512829121202e-14,-0.29336111253788694],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.15999999999799,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.179999999998014,"qpos":[-2.019904262989918,-1.601477809228689,1.3356012191727227,-1.3049197367389482,-1.5707963267949017,-0.4491079361950267,0.0029336111717787913,0.00015630156208002835,0.00319347946688493,-0.003429298941561431,0.002933611074495222,0.00015630110826054332,0.003197849387684612,-0.0034379968907529415,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993893,2.106722338940996e-17,3.56702536284347e-17,1.1054521385274439e-06],"qvel":[2.2286897827121984e-12,4.7239824452175086e-14,8.340632040516615e-13,3.2907118252343095e-12,5.98403603007702e-12,1.9495362120765682e-14,8.209095083269928e-10,4.665807298947292e-09,-4.431740826971143e-09,-4.709149572288907e-10,-6.824891613723292e-10,-3.0123022090276485e-09,2.809160676715804e-09,2.9895533355275293e-10,-4.476000532413483e-17,2.5732434940279738e-17,1.3088943067850676e-14,-3.1707006664849913e-16,-1.5821869869634925e-15,1.4192480122273747e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228689,1.3356012191727227,-1.3049197367389482,-1.5707963267949017,-0.4491079361950267],"joint_velocity_rad_s":[2.2286897827121984e-12,4.7239824452175086e-14,8.340632040516615e-13,3.2907118252343095e-12,5.98403603007702e-12,1.9495362120765682e-14],"linkage_position_rad":[0.0029336111717787913,0.00015630156208002835,0.00319347946688493,-0.003429298941561431,0.002933611074495222,0.00015630110826054332,0.003197849387684612,-0.0034379968907529415],"tcp_position_m":[0.08125537448652445,0.4772357226219457,0.4350000000000023],"tcp_quaternion_wxyz":[-5.923983137402236e-16,0.7071067811865451,0.7071067811865491,9.315998756948089e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993893,2.106722338940996e-17,3.56702536284347e-17,1.1054521385274439e-06],"object_linear_velocity_m_s":[-4.476000532413483e-17,2.5732434940279738e-17,1.3088943067850676e-14],"object_angular_velocity_rad_s":[-3.170665675712484e-16,-1.5821876885691842e-15,1.4192480122273757e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128433,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025072,-1.3097463880167188,-1.570795108424298,-0.4491079361950235,0.0],"actuator_force":[-8.958522812463343e-10,-18.98804394864146,-20.28634474076489,-2.413325639214463,0.000609184703421306,-3.410605131648481e-13,-0.29336111300580237],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.179999999998014,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.199999999998038,"qpos":[-2.0199042629899226,-1.6014778092286888,1.3356012191727191,-1.304919736738954,-1.5707963267949159,-0.4491079361950267,0.0029336111693575822,0.0001563015494337386,0.003193479479280574,-0.0034292989410008913,0.002933611076570668,0.00015630111627644173,0.0031978493800971525,-0.003437996891257679,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993892,4.628546471510954e-17,2.8881125952304437e-17,1.1058936265208946e-06],"qvel":[1.849813198069208e-12,1.76781712156776e-14,4.9755118383651e-13,4.289791492311753e-12,9.264266906954275e-12,2.7478639509320952e-14,1.943581714883147e-10,2.0092870557412498e-09,-1.6764786645772713e-09,-3.8165640745234305e-10,5.725261978862895e-11,-1.323827780507548e-09,1.3253877581103758e-09,7.800791129741301e-11,-3.764831922350419e-17,6.136319435142411e-17,1.2675384991177809e-14,4.3204176817021015e-16,-7.654321098887092e-16,2.5911884655672293e-08],"joint_position_rad":[-2.0199042629899226,-1.6014778092286888,1.3356012191727191,-1.304919736738954,-1.5707963267949159,-0.4491079361950267],"joint_velocity_rad_s":[1.849813198069208e-12,1.76781712156776e-14,4.9755118383651e-13,4.289791492311753e-12,9.264266906954275e-12,2.7478639509320952e-14],"linkage_position_rad":[0.0029336111693575822,0.0001563015494337386,0.003193479479280574,-0.0034292989410008913,0.002933611076570668,0.00015630111627644173,0.0031978493800971525,-0.003437996891257679],"tcp_position_m":[0.08125537448653058,0.4772357226219453,0.4350000000000044],"tcp_quaternion_wxyz":[4.6734891278951585e-15,0.7071067811865465,0.7071067811865476,1.603306624270045e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993892,4.628546471510954e-17,2.8881125952304437e-17,1.1058936265208946e-06],"object_linear_velocity_m_s":[-3.764831922350419e-17,6.136319435142411e-17,1.2675384991177809e-14],"object_angular_velocity_rad_s":[4.3204346263886913e-16,-7.654311567010479e-16,2.5911884655672326e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221246017,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025081,-1.3097463880167193,-1.5707951084242977,-0.4491079361950232,0.0],"actuator_force":[-7.353264663834125e-10,-18.988043948630093,-20.28634474062119,-2.4133256393115516,0.00060918438259705,-1.0231815394945443e-12,-0.2933611135544664],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.199999999998038,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.219999999998063,"qpos":[-2.019904262989918,-1.601477809228688,1.335601219172721,-1.3049197367389507,-1.5707963267949159,-0.4491079361950267,0.0029336111721426773,0.00015630156427943318,0.0031934794650906096,-0.003429298942278763,0.002933611073728167,0.00015630110687400562,0.0031978493881484418,-0.0034379968900156654,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993889,5.617394142520373e-17,3.445880057755712e-17,1.1063172679547338e-06],"qvel":[-4.676670122905042e-12,1.1674555031793168e-13,-1.4127245779684142e-12,-9.884621906734242e-12,-2.1468358989028516e-11,-3.087192219141905e-15,-1.5738775827850984e-09,-8.596037629093772e-09,8.116400117626253e-09,8.741424099870616e-10,1.013598990420422e-09,5.660885444849037e-09,-5.6570116841934985e-09,-4.029165832489969e-10,-5.914734547550557e-17,8.641892791046249e-17,1.2410319244048554e-14,9.521730159468515e-16,9.474091502246346e-16,4.730855781542318e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228688,1.335601219172721,-1.3049197367389507,-1.5707963267949159,-0.4491079361950267],"joint_velocity_rad_s":[-4.676670122905042e-12,1.1674555031793168e-13,-1.4127245779684142e-12,-9.884621906734242e-12,-2.1468358989028516e-11,-3.087192219141905e-15],"linkage_position_rad":[0.0029336111721426773,0.00015630156427943318,0.0031934794650906096,-0.003429298942278763,0.002933611073728167,0.00015630110687400562,0.0031978493881484418,-0.0034379968900156654],"tcp_position_m":[0.08125537448652818,0.477235722621945,0.4350000000000028],"tcp_quaternion_wxyz":[5.569208242568813e-15,0.7071067811865454,0.7071067811865491,1.311130832168495e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993889,5.617394142520373e-17,3.445880057755712e-17,1.1063172679547338e-06],"object_linear_velocity_m_s":[-5.914734547550557e-17,8.641892791046249e-17,1.2410319244048554e-14],"object_angular_velocity_rad_s":[9.52170922934715e-16,9.474112517182037e-16,4.7308557815423264e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221294804,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029992,1.325458046802507,-1.3097463880167193,-1.5707951084242981,-0.449107936195023,0.0],"actuator_force":[1.8662831280380487e-09,-18.9880439486692,-20.28634473986267,-2.4133256378958095,0.0006091874556659604,2.1600499167107046e-12,-0.2933611094921493],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.219999999998063,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.239999999998087,"qpos":[-2.0199042629899164,-1.601477809228688,1.3356012191727202,-1.3049197367389418,-1.570796326794898,-0.4491079361950267,0.002933611172652399,0.00015630156676266357,0.0031934794624307395,-0.0034292989420677805,0.00293361107371201,0.00015630110525092944,0.0031978493904302675,-0.0034379968903880723,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993877,4.684754756833218e-17,3.174841954283748e-17,1.1066334776654576e-06],"qvel":[1.968548992058334e-12,5.941606646307555e-14,7.872527298783864e-13,2.4620798979071203e-12,4.103030256537866e-12,1.6901576814559008e-14,9.884224822553895e-10,5.077743164159079e-09,-4.909904624431163e-09,-4.4172971675401675e-10,-8.996160196305291e-10,-3.2755022311760328e-09,3.0339130363705224e-09,3.4591655306849614e-10,-6.227916615450878e-17,8.384248630765177e-17,1.2582403812865455e-14,4.895632207963118e-16,1.1228988970153021e-15,8.637347967221537e-08],"joint_position_rad":[-2.0199042629899164,-1.601477809228688,1.3356012191727202,-1.3049197367389418,-1.570796326794898,-0.4491079361950267],"joint_velocity_rad_s":[1.968548992058334e-12,5.941606646307555e-14,7.872527298783864e-13,2.4620798979071203e-12,4.103030256537866e-12,1.6901576814559008e-14],"linkage_position_rad":[0.002933611172652399,0.00015630156676266357,0.0031934794624307395,-0.0034292989420677805,0.00293361107371201,0.00015630110525092944,0.0031978493904302675,-0.0034379968903880723],"tcp_position_m":[0.08125537448652229,0.477235722621945,0.4350000000000022],"tcp_quaternion_wxyz":[-1.580045182782994e-15,0.7071067811865447,0.7071067811865498,6.419613370060742e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993877,4.684754756833218e-17,3.174841954283748e-17,1.1066334776654576e-06],"object_linear_velocity_m_s":[-6.227916615450878e-17,8.384248630765177e-17,1.2582403812865455e-14],"object_angular_velocity_rad_s":[4.895607410045418e-16,1.1228999724538857e-15,8.637347967221537e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298372,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167193,-1.5707951084242981,-0.4491079361950235,0.0],"actuator_force":[-7.958078640513122e-10,-18.988043948647373,-20.286344740740788,-2.413325639134996,0.0006091848895266594,-5.684341886080802e-14,-0.29336111276225274],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.239999999998087,"joint_targets_rad":[-2.01990426298992,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.25999999999811,"qpos":[-2.019904262989921,-1.6014778092286879,1.3356012191727167,-1.3049197367389467,-1.5707963267949085,-0.4491079361950266,0.0029336111698225462,0.00015630155294436832,0.0031934794761706384,-0.003429298941565786,0.002933611076316492,0.00015630111402839729,0.0031978493821728893,-0.0034379968910061864,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993877,3.435272252049496e-17,2.637846767981418e-17,1.1069611128480044e-06],"qvel":[2.420038667123202e-12,2.9408718500699794e-14,8.560563726788155e-13,4.250721221078352e-12,8.448536355957048e-12,2.466300683369267e-14,5.988223292956022e-10,3.994166980548488e-09,-3.656250728926119e-09,-5.091037903782938e-10,-3.871758222933099e-10,-2.5821861624966863e-09,2.4335943090970257e-09,2.363039995366729e-10,-3.267934255953674e-17,4.41857439523924e-17,1.31624953432321e-14,-1.7257342606218557e-15,-1.2373811419993329e-15,9.35785919559792e-09],"joint_position_rad":[-2.019904262989921,-1.6014778092286879,1.3356012191727167,-1.3049197367389467,-1.5707963267949085,-0.4491079361950266],"joint_velocity_rad_s":[2.420038667123202e-12,2.9408718500699794e-14,8.560563726788155e-13,4.250721221078352e-12,8.448536355957048e-12,2.466300683369267e-14],"linkage_position_rad":[0.0029336111698225462,0.00015630155294436832,0.0031934794761706384,-0.003429298941565786,0.002933611076316492,0.00015630111402839729,0.0031978493821728893,-0.0034379968910061864],"tcp_position_m":[0.0812553744865279,0.4772357226219453,0.4350000000000046],"tcp_quaternion_wxyz":[2.118643205663753e-15,0.7071067811865462,0.707106781186548,1.2105544899286255e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993877,3.435272252049496e-17,2.637846767981418e-17,1.1069611128480044e-06],"object_linear_velocity_m_s":[-3.267934255953674e-17,4.41857439523924e-17,1.31624953432321e-14],"object_angular_velocity_rad_s":[-1.7257315206583232e-15,-1.2373849632806718e-15,9.357859195597928e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221255318,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029992,1.3254580468025068,-1.3097463880167186,-1.5707951084242977,-0.4491079361950231,0.0],"actuator_force":[-9.663381206337363e-10,-18.98804394863464,-20.28634474076216,-2.413325639310983,0.0006091844605862207,-7.389644451905042e-13,-0.29336111336518444],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.25999999999811,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.279999999998136,"qpos":[-2.019904262989921,-1.6014778092286877,1.3356012191727167,-1.3049197367389498,-1.5707963267949203,-0.4491079361950266,0.0029336111714257885,0.0001563015608016223,0.0031934794685961345,-0.003429298942021492,0.002933611074400494,0.0001563011091443543,0.003197849385964253,-0.0034379968902141333,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993875,4.056775537433967e-17,3.0120737889677565e-17,1.1074335347063004e-06],"qvel":[-1.6290586816731366e-12,7.984401397728698e-14,-8.058334730604109e-13,-1.7379568975150988e-12,-2.831161239727378e-12,1.7555283730498205e-14,-6.022995606548529e-10,-3.091389005197579e-09,3.032877957847039e-09,3.1948444192137223e-10,5.598766128370406e-10,2.01501456695258e-09,-1.9108675080819463e-09,-2.2417407589011015e-10,-3.8776788584432546e-17,5.035227904160944e-17,1.2636527185315931e-14,-1.0682949735098835e-15,-9.741204669882376e-16,1.708508773740387e-08],"joint_position_rad":[-2.019904262989921,-1.6014778092286877,1.3356012191727167,-1.3049197367389498,-1.5707963267949203,-0.4491079361950266],"joint_velocity_rad_s":[-1.6290586816731366e-12,7.984401397728698e-14,-8.058334730604109e-13,-1.7379568975150988e-12,-2.831161239727378e-12,1.7555283730498205e-14],"linkage_position_rad":[0.0029336111714257885,0.0001563015608016223,0.0031934794685961345,-0.003429298942021492,0.002933611074400494,0.0001563011091443543,0.003197849385964253,-0.0034379968902141333],"tcp_position_m":[0.08125537448653077,0.4772357226219447,0.4350000000000048],"tcp_quaternion_wxyz":[7.094253993134167e-15,0.707106781186546,0.707106781186548,1.532942641478047e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993875,4.056775537433967e-17,3.0120737889677565e-17,1.1074335347063004e-06],"object_linear_velocity_m_s":[-3.8776788584432546e-17,5.035227904160944e-17,1.2636527185315931e-14],"object_angular_velocity_rad_s":[-1.0682928149306884e-15,-9.741228345034129e-16,1.7085087737403893e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284117,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025081,-1.3097463880167195,-1.570795108424298,-0.449107936195023,0.0],"actuator_force":[6.534719432238489e-10,-18.98804394865647,-20.28634474009459,-2.4133256387110578,0.0006091855942713664,2.842170943040401e-14,-0.29336111207919946],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.279999999998136,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.29999999999816,"qpos":[-2.0199042629899155,-1.6014778092286877,1.3356012191727178,-1.3049197367389374,-1.5707963267948961,-0.4491079361950265,0.0029336111736328477,0.00015630157151420417,0.0031934794578351976,-0.003429298942512659,0.0029336110727839044,0.00015630110217789082,0.0031978493932379743,-0.003437996890013511,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993873,4.012784194042434e-17,3.8043017487485397e-17,1.1079027960715777e-06],"qvel":[1.5895057325327686e-12,6.940047535887411e-14,6.659761351355052e-13,1.6693903925935902e-12,2.4755123313283388e-12,1.6863430177410376e-14,1.0917283350019257e-09,5.133726709658319e-09,-5.043233196894682e-09,-3.741634353254732e-10,-1.0420938813344156e-09,-3.311354347270114e-09,3.066658581575436e-09,3.562149743188069e-10,-5.4425629932502203e-17,4.958548770157979e-17,1.2318725844516979e-14,-9.08618986122787e-16,8.488346583134446e-17,3.1193055686500525e-08],"joint_position_rad":[-2.0199042629899155,-1.6014778092286877,1.3356012191727178,-1.3049197367389374,-1.5707963267948961,-0.4491079361950265],"joint_velocity_rad_s":[1.5895057325327686e-12,6.940047535887411e-14,6.659761351355052e-13,1.6693903925935902e-12,2.4755123313283388e-12,1.6863430177410376e-14],"linkage_position_rad":[0.0029336111736328477,0.00015630157151420417,0.0031934794578351976,-0.003429298942512659,0.0029336110727839044,0.00015630110217789082,0.0031978493932379743,-0.003437996890013511],"tcp_position_m":[0.08125537448652113,0.47723572262194497,0.43500000000000283],"tcp_quaternion_wxyz":[-1.915726750057764e-15,0.7071067811865445,0.7071067811865502,4.933300986528211e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993873,4.012784194042434e-17,3.8043017487485397e-17,1.1079027960715777e-06],"object_linear_velocity_m_s":[-5.4425629932502203e-17,4.958548770157979e-17,1.2318725844516979e-14],"object_angular_velocity_rad_s":[-9.08619171832458e-16,8.488145000468828e-17,3.1193055686500584e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221312794,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802508,-1.3097463880167197,-1.5707951084242984,-0.44910793619502287,0.0],"actuator_force":[-6.443769962061197e-10,-18.98804394865192,-20.286344740686218,-2.41332563905803,0.0006091850513030295,1.1368683772161603e-13,-0.2933611125690098],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.29999999999816,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.319999999998185,"qpos":[-2.0199042629899195,-1.6014778092286874,1.335601219172715,-1.3049197367389405,-1.570796326794903,-0.4491079361950265,0.0029336111705635707,0.00015630155751203726,0.003193479471967148,-0.0034292989421696005,0.002933611075729279,0.00015630111108549914,0.0031978493848567047,-0.0034379968906576115,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999386,2.9491537505785216e-17,3.8235559540975464e-17,1.1082893136126421e-06],"qvel":[2.4421345280466464e-12,4.0988879134466734e-14,9.650574268012488e-13,3.548831392860032e-12,6.532254800479408e-12,1.9236970218919843e-14,8.755396384472965e-10,5.05612174011165e-09,-4.767270338126958e-09,-5.39028403806184e-10,-7.225412972916245e-10,-3.2533003245924225e-09,3.012424008424745e-09,3.3623580599888004e-10,-6.2183212231677e-17,3.991066112830422e-17,1.2853020675117832e-14,-8.043630057120356e-16,4.564530657583261e-16,5.6950642455939654e-08],"joint_position_rad":[-2.0199042629899195,-1.6014778092286874,1.335601219172715,-1.3049197367389405,-1.570796326794903,-0.4491079361950265],"joint_velocity_rad_s":[2.4421345280466464e-12,4.0988879134466734e-14,9.650574268012488e-13,3.548831392860032e-12,6.532254800479408e-12,1.9236970218919843e-14],"linkage_position_rad":[0.0029336111705635707,0.00015630155751203726,0.003193479471967148,-0.0034292989421696005,0.002933611075729279,0.00015630111108549914,0.0031978493848567047,-0.0034379968906576115],"tcp_position_m":[0.08125537448652513,0.4772357226219451,0.4350000000000044],"tcp_quaternion_wxyz":[2.767883927094507e-16,0.7071067811865459,0.7071067811865488,8.8450277217433e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999386,2.9491537505785216e-17,3.8235559540975464e-17,1.1082893136126421e-06],"object_linear_velocity_m_s":[-6.2183212231677e-17,3.991066112830422e-17,1.2853020675117832e-14],"object_angular_velocity_rad_s":[-8.043640131190868e-16,4.564512794642387e-16,5.695064245593968e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322126827,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.3097463880167193,-1.5707951084242977,-0.4491079361950233,0.0],"actuator_force":[-9.786162991076708e-10,-18.988043948641916,-20.286344740800814,-2.4133256392443627,0.0006091846494200581,-3.694822225952521e-13,-0.2933611130796342],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.319999999998185,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.33999999999821,"qpos":[-2.0199042629899218,-1.6014778092286872,1.3356012191727138,-1.3049197367389458,-1.570796326794917,-0.4491079361950265,0.0029336111713269167,0.00015630156077767787,0.0031934794687850025,-0.003429298942082304,0.0029336110746263,0.00015630110914949635,0.003197849385991979,-0.0034379968902480186,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993858,1.955658844327579e-17,3.245794513120725e-17,1.1086088960963866e-06],"qvel":[2.1699252620936881e-13,4.8136789236423716e-14,-1.4557860511134146e-13,1.6588843261873695e-12,4.236645537952726e-12,2.1528232108085752e-14,2.549432233225939e-11,4.132200366545201e-10,-3.2794722925085437e-10,8.042515562226408e-12,1.0326546866571333e-10,-2.7107635360559833e-10,3.276796012876748e-10,-5.476659712144573e-11,-7.31810550878296e-17,2.9312570312876997e-17,1.288771514463737e-14,-7.315421554483463e-17,1.3784223838003e-15,1.0397749129615892e-07],"joint_position_rad":[-2.0199042629899218,-1.6014778092286872,1.3356012191727138,-1.3049197367389458,-1.570796326794917,-0.4491079361950265],"joint_velocity_rad_s":[2.1699252620936881e-13,4.8136789236423716e-14,-1.4557860511134146e-13,1.6588843261873695e-12,4.236645537952726e-12,2.1528232108085752e-14],"linkage_position_rad":[0.0029336111713269167,0.00015630156077767787,0.0031934794687850025,-0.003429298942082304,0.0029336110746263,0.00015630110914949635,0.003197849385991979,-0.0034379968902480186],"tcp_position_m":[0.08125537448653013,0.47723572262194464,0.43500000000000516],"tcp_quaternion_wxyz":[5.831260903056805e-15,0.7071067811865465,0.7071067811865478,1.3909424078834731e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993858,1.955658844327579e-17,3.245794513120725e-17,1.1086088960963866e-06],"object_linear_velocity_m_s":[-7.31810550878296e-17,2.9312570312876997e-17,1.288771514463737e-14],"object_angular_velocity_rad_s":[-7.315726505749345e-17,1.3784222175312018e-15,1.0397749129615898e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282738,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167188,-1.570795108424298,-0.4491079361950234,0.0],"actuator_force":[-8.412825991399586e-11,-18.988043948644645,-20.286344740354707,-2.4133256390523457,0.0006091848857749937,-6.252776074688882e-13,-0.2933611129414598],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.33999999999821,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.359999999998234,"qpos":[-2.019904262989921,-1.6014778092286872,1.3356012191727138,-1.3049197367389458,-1.5707963267949192,-0.4491079361950265,0.002933611171758627,0.0001563015616132195,0.0031934794673243883,-0.0034292989417368893,0.002933611074054725,0.00015630110864498867,0.0031978493867850168,-0.0034379968903871304,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993858,1.4149717991465818e-17,2.82567606199775e-17,1.1090033074882966e-06],"qvel":[-4.95783918409794e-12,1.107969247229922e-13,-1.4740627572324414e-12,-1.0604949513769559e-11,-2.296370988615293e-11,-6.464052084497279e-15,-1.766877474783645e-09,-9.544627520349562e-09,9.043937869013291e-09,8.494350904402606e-10,1.1600047428906386e-09,6.248264765853044e-09,-6.218422190136359e-09,-3.949915357952218e-10,-3.5465289033964464e-17,1.8139723319427834e-17,1.2439462598444967e-14,-7.42849242498388e-16,-1.132849342120809e-15,1.1265109692853512e-08],"joint_position_rad":[-2.019904262989921,-1.6014778092286872,1.3356012191727138,-1.3049197367389458,-1.5707963267949192,-0.4491079361950265],"joint_velocity_rad_s":[-4.95783918409794e-12,1.107969247229922e-13,-1.4740627572324414e-12,-1.0604949513769559e-11,-2.296370988615293e-11,-6.464052084497279e-15],"linkage_position_rad":[0.002933611171758627,0.0001563015616132195,0.0031934794673243883,-0.0034292989417368893,0.002933611074054725,0.00015630110864498867,0.0031978493867850168,-0.0034379968903871304],"tcp_position_m":[0.08125537448653036,0.4772357226219445,0.43500000000000527],"tcp_quaternion_wxyz":[6.895492382911749e-15,0.7071067811865465,0.7071067811865482,1.4359087839093698e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993858,1.4149717991465818e-17,2.82567606199775e-17,1.1090033074882966e-06],"object_linear_velocity_m_s":[-3.5465289033964464e-17,1.8139723319427834e-17,1.2439462598444967e-14],"object_angular_velocity_rad_s":[-7.42846729192596e-16,-1.1328509900813533e-15,1.126510969285353e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128731,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025068,-1.309746388016719,-1.5707951084242984,-0.4491079361950231,0.0],"actuator_force":[1.984062691917643e-09,-18.9880439486692,-20.28634473982447,-2.4133256378261194,0.0006091876067557678,2.3305801732931286e-12,-0.293361109256304],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.359999999998234,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.379999999998258,"qpos":[-2.019904262989917,-1.6014778092286872,1.3356012191727136,-1.3049197367389362,-1.5707963267948974,-0.4491079361950265,0.0029336111714910154,0.00015630156254324638,0.0031934794672321956,-0.00342929894274979,0.002933611074902987,0.0001563011078288081,0.0031978493878210335,-0.003437996890255373,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993846,1.8915063763933175e-17,3.993322613608072e-17,1.109450795680721e-06],"qvel":[2.163828514849194e-12,5.793493777918186e-14,9.04966200141712e-13,2.6673433259957717e-12,4.484965256124238e-12,1.701203313498972e-14,1.0596996153662427e-09,5.512731786552106e-09,-5.299592849413014e-09,-5.048486047924015e-10,-9.609465617565563e-10,-3.5399374398070314e-09,3.257067811455129e-09,3.861106388442953e-10,-5.244905025485276e-17,2.3411446393808144e-17,1.2630976070192805e-14,-4.477069377794726e-16,-7.353253875252175e-16,2.0567245504650977e-08],"joint_position_rad":[-2.019904262989917,-1.6014778092286872,1.3356012191727136,-1.3049197367389362,-1.5707963267948974,-0.4491079361950265],"joint_velocity_rad_s":[2.163828514849194e-12,5.793493777918186e-14,9.04966200141712e-13,2.6673433259957717e-12,4.484965256124238e-12,1.701203313498972e-14],"linkage_position_rad":[0.0029336111714910154,0.00015630156254324638,0.0031934794672321956,-0.00342929894274979,0.002933611074902987,0.0001563011078288081,0.0031978493878210335,-0.003437996890255373],"tcp_position_m":[0.08125537448652231,0.4772357226219452,0.4350000000000045],"tcp_quaternion_wxyz":[-1.867994503095261e-15,0.707106781186545,0.7071067811865497,6.464730957136022e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993846,1.8915063763933175e-17,3.993322613608072e-17,1.109450795680721e-06],"object_linear_velocity_m_s":[-5.244905025485276e-17,2.3411446393808144e-17,1.2630976070192805e-14],"object_angular_velocity_rad_s":[-4.477053045210641e-16,-7.3532638171910375e-16,2.0567245504650977e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282925,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.570795108424298,-0.4491079361950232,0.0],"actuator_force":[-8.717506716493517e-10,-18.988043948648738,-20.286344740774894,-2.4133256391580744,0.0006091848512141951,-8.526512829121202e-14,-0.2933611128134654],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.379999999998258,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.399999999998283,"qpos":[-2.01990426298992,-1.601477809228687,1.3356012191727118,-1.3049197367389418,-1.5707963267949097,-0.4491079361950265,0.002933611171643308,0.00015630156287945634,0.0031934794668689015,-0.0034292989423072837,0.002933611074464294,0.00015630110777376308,0.003197849387322164,-0.0034379968901524643,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993844,4.9882823202361536e-17,3.896979994162728e-17,1.1098887254992114e-06],"qvel":[1.1704906249764219e-12,3.523005798504101e-14,3.117557156693834e-13,2.7066188142786836e-12,5.924192934989095e-12,2.1875377142794085e-14,4.4327626662782543e-10,2.549421209057291e-09,-2.4453248651101255e-09,-1.5043003124592068e-10,-2.8819401573666644e-10,-1.6508330769162521e-09,1.6314851769152592e-09,7.75002445586198e-11,-5.568358166681957e-17,7.748520656933506e-17,1.3131964210054903e-14,2.530063640056087e-15,-2.343968753789964e-16,3.755059641514047e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228687,1.3356012191727118,-1.3049197367389418,-1.5707963267949097,-0.4491079361950265],"joint_velocity_rad_s":[1.1704906249764219e-12,3.523005798504101e-14,3.117557156693834e-13,2.7066188142786836e-12,5.924192934989095e-12,2.1875377142794085e-14],"linkage_position_rad":[0.002933611171643308,0.00015630156287945634,0.0031934794668689015,-0.0034292989423072837,0.002933611074464294,0.00015630110777376308,0.003197849387322164,-0.0034379968901524643],"tcp_position_m":[0.08125537448652731,0.4772357226219449,0.4350000000000058],"tcp_quaternion_wxyz":[2.8288459412538216e-15,0.7071067811865458,0.7071067811865485,1.1632599139090234e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993844,4.9882823202361536e-17,3.896979994162728e-17,1.1098887254992114e-06],"object_linear_velocity_m_s":[-5.568358166681957e-17,7.748520656933506e-17,1.3131964210054903e-14],"object_angular_velocity_rad_s":[2.530064163285436e-15,-2.343912629464575e-16,3.7550596415140496e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221287838,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167188,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[-4.69299266114831e-10,-18.988043948640097,-20.286344740533423,-2.4133256391592113,0.0006091847133120609,-6.536993168992922e-13,-0.2933611130807913],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.399999999998283,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.419999999998307,"qpos":[-2.019904262989922,-1.601477809228687,1.3356012191727105,-1.3049197367389465,-1.570796326794921,-0.4491079361950265,0.002933611170915006,0.00015630155761911225,0.0031934794713660074,-0.003429298941557606,0.002933611074853781,0.00015630111122750574,0.0031978493842867834,-0.003437996890571314,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993842,6.780801291690233e-17,4.8959928459212816e-17,1.1102912113625159e-06],"qvel":[-1.6940611418356114e-12,7.670326976298607e-14,-8.193789901854907e-13,-1.8332905943616935e-12,-2.9428449084635283e-12,1.633707584711827e-14,-7.191169290458559e-10,-3.555926114465373e-09,3.5380956355681963e-09,2.5057355005511033e-10,6.762514690782358e-10,2.2980018771602164e-09,-2.1857685330926172e-09,-2.0383508365984766e-10,-1.1093276384811663e-16,1.2902670284829262e-16,1.3287395433502425e-14,3.613980976836566e-15,3.634837344994348e-15,6.855790634742791e-08],"joint_position_rad":[-2.019904262989922,-1.601477809228687,1.3356012191727105,-1.3049197367389465,-1.570796326794921,-0.4491079361950265],"joint_velocity_rad_s":[-1.6940611418356114e-12,7.670326976298607e-14,-8.193789901854907e-13,-1.8332905943616935e-12,-2.9428449084635283e-12,1.633707584711827e-14],"linkage_position_rad":[0.002933611170915006,0.00015630155761911225,0.0031934794713660074,-0.003429298941557606,0.002933611074853781,0.00015630111122750574,0.0031978493842867834,-0.003437996890571314],"tcp_position_m":[0.0812553744865317,0.4772357226219448,0.43500000000000705],"tcp_quaternion_wxyz":[7.182341723259252e-15,0.7071067811865465,0.7071067811865476,1.6411135715294937e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993842,6.780801291690233e-17,4.8959928459212816e-17,1.1102912113625159e-06],"object_linear_velocity_m_s":[-1.1093276384811663e-16,1.2902670284829262e-16,1.3287395433502425e-14],"object_angular_velocity_rad_s":[3.613972912084933e-15,3.63484536083048e-15,6.8557906347428e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221275088,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167195,-1.570795108424298,-0.4491079361950231,0.0],"actuator_force":[6.812115316279233e-10,-18.988043948656014,-20.28634474007822,-2.4133256387030997,0.0006091856058674239,5.684341886080802e-14,-0.2933611120741121],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.419999999998307,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.43999999999833,"qpos":[-2.019904262989915,-1.601477809228687,1.3356012191727125,-1.3049197367389331,-1.5707963267948941,-0.44910793619502637,0.002933611172539588,0.00015630156770070567,0.0031934794622647876,-0.003429298943255531,0.002933611073912143,0.00015630110452755528,0.003197849390809401,-0.0034379968898336577,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993842,6.08902236840551e-17,4.697871728492653e-17,1.1105512678317753e-06],"qvel":[1.7429745404413636e-12,6.96720669363105e-14,7.642006777364351e-13,1.8121839124243211e-12,2.7076200691027872e-12,1.6264886787954528e-14,1.1737457818765231e-09,5.5771756561297415e-09,-5.450334873942334e-09,-4.279945087153093e-10,-1.118253394713607e-09,-3.5826735923496744e-09,3.2973740786394713e-09,3.967635275700325e-10,-5.558704559931428e-17,7.148188320555558e-17,1.2504688201141689e-14,-2.3928731681526404e-15,-1.688965165575132e-15,7.4276877205686765e-09],"joint_position_rad":[-2.019904262989915,-1.601477809228687,1.3356012191727125,-1.3049197367389331,-1.5707963267948941,-0.44910793619502637],"joint_velocity_rad_s":[1.7429745404413636e-12,6.96720669363105e-14,7.642006777364351e-13,1.8121839124243211e-12,2.7076200691027872e-12,1.6264886787954528e-14],"linkage_position_rad":[0.002933611172539588,0.00015630156770070567,0.0031934794622647876,-0.003429298943255531,0.002933611073912143,0.00015630110452755528,0.003197849390809401,-0.0034379968898336577],"tcp_position_m":[0.08125537448652062,0.477235722621945,0.4350000000000045],"tcp_quaternion_wxyz":[-2.962421509887684e-15,0.7071067811865442,0.7071067811865502,4.847710117559347e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993842,6.08902236840551e-17,4.697871728492653e-17,1.1105512678317753e-06],"object_linear_velocity_m_s":[-5.558704559931428e-17,7.148188320555558e-17,1.2504688201141689e-14],"object_angular_velocity_rad_s":[-2.3928694160840427e-15,-1.6889704812921765e-15,7.427687720568688e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298905,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802508,-1.3097463880167197,-1.570795108424298,-0.44910793619502287,0.0],"actuator_force":[-7.066773832775652e-10,-18.98804394865374,-20.286344740714867,-2.4133256390745146,0.0006091850273151067,1.1368683772161603e-13,-0.2933611126000485],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389314,-1.5707963267948966,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.43999999999833,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389314,-1.5707963267948966,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.459999999998356,"qpos":[-2.0199042629899187,-1.6014778092286868,1.3356012191727107,-1.304919736738938,-1.5707963267949039,-0.44910793619502637,0.002933611172246844,0.00015630156623157982,0.003193479463647345,-0.003429298942591417,0.0029336110739896022,0.00015630110561801568,0.0031978493893760115,-0.0034379968899573075,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993828,5.739242074137547e-17,4.5036076266024395e-17,1.1110260652722038e-06],"qvel":[1.528540445280404e-12,3.7007309130893914e-14,5.378608707059677e-13,2.6613918114437926e-12,5.358048119210509e-12,2.214197240287944e-14,7.238803579177332e-10,3.759294890199147e-09,-3.69107135126555e-09,-2.1014979032919887e-10,-5.950677621070985e-10,-2.4302244074162206e-09,2.350843423907395e-09,1.6655615862129534e-10,-5.699620902907699e-17,7.127065362859567e-17,1.2642078300439052e-14,-2.316282164160901e-15,-1.7869086459068224e-15,1.3561082053002072e-08],"joint_position_rad":[-2.0199042629899187,-1.6014778092286868,1.3356012191727107,-1.304919736738938,-1.5707963267949039,-0.44910793619502637],"joint_velocity_rad_s":[1.528540445280404e-12,3.7007309130893914e-14,5.378608707059677e-13,2.6613918114437926e-12,5.358048119210509e-12,2.214197240287944e-14],"linkage_position_rad":[0.002933611172246844,0.00015630156623157982,0.003193479463647345,-0.003429298942591417,0.0029336110739896022,0.00015630110561801568,0.0031978493893760115,-0.0034379968899573075],"tcp_position_m":[0.08125537448652506,0.477235722621945,0.43500000000000605],"tcp_quaternion_wxyz":[5.1247916704255e-16,0.7071067811865454,0.7071067811865489,9.505759290275668e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993828,5.739242074137547e-17,4.5036076266024395e-17,1.1110260652722038e-06],"object_linear_velocity_m_s":[-5.699620902907699e-17,7.127065362859567e-17,1.2642078300439052e-14],"object_angular_velocity_rad_s":[-2.3162781923295415e-15,-1.786913794358734e-15,1.3561082053002072e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129741,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025068,-1.3097463880167186,-1.570795108424298,-0.4491079361950228,0.0],"actuator_force":[-6.14363671047613e-10,-18.988043948641007,-20.286344740623008,-2.413325639156369,0.000609184767199622,-4.547473508864641e-13,-0.2933611129558853],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.459999999998356,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.47999999999838,"qpos":[-2.0199042629899218,-1.6014778092286868,1.335601219172709,-1.304919736738944,-1.5707963267949163,-0.44910793619502637,0.002933611170749881,0.00015630155744404532,0.0031934794717620265,-0.003429298941708224,0.00293361107515989,0.00015630111133050766,0.003197849384204118,-0.0034379968905710505,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993826,6.150154668816794e-17,4.115004448167612e-17,1.1115030920352792e-06],"qvel":[2.860136357108741e-13,4.479888974370161e-14,-1.0543470908744263e-13,1.826533741911728e-12,4.645470948945498e-12,2.3748127120414123e-14,-4.1568182631816574e-11,2.650924127729633e-10,-1.0818853927038006e-10,-8.496423205578196e-11,1.8463093175070775e-10,-1.8708608794284077e-10,2.2828244961759127e-10,-2.2039566839604287e-11,-5.487997372569968e-17,8.212458405834124e-17,1.3162495343232094e-14,-1.4498641080365095e-15,-1.3143404859898006e-15,2.4759111229054473e-08],"joint_position_rad":[-2.0199042629899218,-1.6014778092286868,1.335601219172709,-1.304919736738944,-1.5707963267949163,-0.44910793619502637],"joint_velocity_rad_s":[2.860136357108741e-13,4.479888974370161e-14,-1.0543470908744263e-13,1.826533741911728e-12,4.645470948945498e-12,2.3748127120414123e-14],"linkage_position_rad":[0.002933611170749881,0.00015630155744404532,0.0031934794717620265,-0.003429298941708224,0.00293361107515989,0.00015630111133050766,0.003197849384204118,-0.0034379968905710505],"tcp_position_m":[0.08125537448653025,0.47723572262194514,0.4350000000000074],"tcp_quaternion_wxyz":[5.095161507642464e-15,0.7071067811865469,0.7071067811865478,1.522560318325581e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993826,6.150154668816794e-17,4.115004448167612e-17,1.1115030920352792e-06],"object_linear_velocity_m_s":[-5.487997372569968e-17,8.212458405834124e-17,1.3162495343232094e-14],"object_angular_velocity_rad_s":[-1.4498611842082194e-15,-1.3143437120888771e-15,2.475911122905449e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322127314,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025077,-1.3097463880167195,-1.570795108424298,-0.4491079361950229,0.0],"actuator_force":[-1.1186784831807017e-10,-18.988043948643735,-20.286344740360164,-2.413325639070422,0.0006091848446203585,-6.821210263296962e-13,-0.2933611130108023],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.47999999999838,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.499999999998405,"qpos":[-2.0199042629899213,-1.6014778092286868,1.3356012191727091,-1.3049197367389458,-1.570796326794922,-0.44910793619502637,0.0029336111730226965,0.0001563015664810779,0.003193479462052167,-0.0034292989412433948,0.0029336110726999923,0.00015630110566253088,0.003197849389509883,-0.0034379968902632247,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993825,4.855326984176057e-17,4.7285898110173845e-17,1.1119078864190553e-06],"qvel":[-5.494505681127089e-12,9.522619855257036e-14,-1.663594610159035e-12,-1.1239384636426005e-11,-2.3993288637847844e-11,-9.03684639160926e-15,-1.9288762850621675e-09,-1.1081201406515311e-08,1.0392092367315299e-08,1.0941982671585998e-09,1.2995821169628878e-09,7.275868874492811e-09,-7.054900575270811e-09,-5.656168727795179e-10,-7.8440727269011e-17,6.445295742347731e-17,1.302510524393473e-14,-1.3850270666890195e-15,1.2605471837207982e-15,4.520388464994421e-08],"joint_position_rad":[-2.0199042629899213,-1.6014778092286868,1.3356012191727091,-1.3049197367389458,-1.570796326794922,-0.44910793619502637],"joint_velocity_rad_s":[-5.494505681127089e-12,9.522619855257036e-14,-1.663594610159035e-12,-1.1239384636426005e-11,-2.3993288637847844e-11,-9.03684639160926e-15],"linkage_position_rad":[0.0029336111730226965,0.0001563015664810779,0.003193479462052167,-0.0034292989412433948,0.0029336110726999923,0.00015630110566253088,0.003197849389509883,-0.0034379968902632247],"tcp_position_m":[0.08125537448653142,0.47723572262194486,0.43500000000000727],"tcp_quaternion_wxyz":[7.61051931351074e-15,0.7071067811865464,0.7071067811865481,1.6904348664603078e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993825,4.855326984176057e-17,4.7285898110173845e-17,1.1119078864190553e-06],"object_linear_velocity_m_s":[-7.8440727269011e-17,6.445295742347731e-17,1.302510524393473e-14],"object_angular_velocity_rad_s":[-1.3850298656352888e-15,1.2605440992830582e-15,4.520388464994427e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130533,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167195,-1.5707951084242986,-0.4491079361950236,0.0],"actuator_force":[2.199612936237827e-09,-18.988043948664654,-20.28634473973807,-2.4133256377629095,0.0006091877111202848,2.3021584638627246e-12,-0.29336110913966357],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.499999999998405,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.51999999999843,"qpos":[-2.0199042629899173,-1.6014778092286868,1.3356012191727107,-1.3049197367389362,-1.5707963267949008,-0.44910793619502637,0.0029336111736532502,0.0001563015713734962,0.003193479457646096,-0.0034292989419696172,0.002933611072643531,0.0001563011023924951,0.0031978493929888103,-0.003437996890136408,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993823,3.7149055834845735e-17,5.829155199383334e-17,1.1122642035647107e-06],"qvel":[1.5340038905193306e-12,4.679512838227115e-14,6.055532741594969e-13,2.1963222010275487e-12,4.0587251818166775e-12,1.863539689596092e-14,8.402465259713785e-10,4.197715537643577e-09,-4.114594676095515e-09,-2.8500995238953647e-10,-7.484967904349789e-10,-2.724051530700193e-09,2.573677543804585e-09,2.470740962719209e-10,-1.4870936064176736e-16,6.670308295056503e-17,1.2425584810637143e-14,9.405465257003092e-16,6.0759897948587635e-15,8.253087796822369e-08],"joint_position_rad":[-2.0199042629899173,-1.6014778092286868,1.3356012191727107,-1.3049197367389362,-1.5707963267949008,-0.44910793619502637],"joint_velocity_rad_s":[1.5340038905193306e-12,4.679512838227115e-14,6.055532741594969e-13,2.1963222010275487e-12,4.0587251818166775e-12,1.863539689596092e-14],"linkage_position_rad":[0.0029336111736532502,0.0001563015713734962,0.003193479457646096,-0.0034292989419696172,0.002933611072643531,0.0001563011023924951,0.0031978493929888103,-0.003437996890136408],"tcp_position_m":[0.08125537448652367,0.47723572262194525,0.43500000000000555],"tcp_quaternion_wxyz":[-7.018554099073537e-16,0.7071067811865454,0.7071067811865496,8.199450826514041e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993823,3.7149055834845735e-17,5.829155199383334e-17,1.1122642035647107e-06],"object_linear_velocity_m_s":[-1.4870936064176736e-16,6.670308295056503e-17,1.2425584810637143e-14],"object_angular_velocity_rad_s":[9.405330191077963e-16,6.075991880984327e-15,8.253087796822383e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322131479,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025068,-1.3097463880167188,-1.5707951084242981,-0.44910793619502304,0.0],"actuator_force":[-6.198206392582506e-10,-18.988043948644645,-20.286344740650293,-2.4133256391108944,0.000609184895438375,-2.2737367544323206e-13,-0.29336111277358773],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389311,-1.5707963267948968,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.51999999999843,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389311,-1.5707963267948968,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.539999999998454,"qpos":[-2.01990426298992,-1.6014778092286868,1.335601219172709,-1.3049197367389413,-1.5707963267949105,-0.44910793619502637,0.002933611171136593,0.0001563015598244909,0.003193479469480395,-0.0034292989419515067,0.0029336110749413405,0.0001563011097145099,0.0031978493858633404,-0.0034379968904786895,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993812,3.1260970753170206e-17,6.15010221597095e-17,1.1125772628436864e-06],"qvel":[1.3154451965925232e-12,3.421476596850349e-14,3.798756763740221e-13,2.9698818372547984e-12,6.462040281259307e-12,2.279898217049258e-14,3.9970283712043256e-10,2.5762903380168525e-09,-2.3697172945432193e-09,-2.6557105242982606e-10,-2.2712763390796327e-10,-1.6757695469202932e-09,1.6120589147211656e-09,1.2434536134656362e-10,-7.260057437196639e-17,3.7090717168485965e-17,1.2869674020487207e-14,-1.0999320280620192e-15,-2.1594281298064147e-15,8.941544768678284e-09],"joint_position_rad":[-2.01990426298992,-1.6014778092286868,1.335601219172709,-1.3049197367389413,-1.5707963267949105,-0.44910793619502637],"joint_velocity_rad_s":[1.3154451965925232e-12,3.421476596850349e-14,3.798756763740221e-13,2.9698818372547984e-12,6.462040281259307e-12,2.279898217049258e-14],"linkage_position_rad":[0.002933611171136593,0.0001563015598244909,0.003193479469480395,-0.0034292989419515067,0.0029336110749413405,0.0001563011097145099,0.0031978493858633404,-0.0034379968904786895],"tcp_position_m":[0.08125537448652778,0.47723572262194514,0.43500000000000716],"tcp_quaternion_wxyz":[2.889817035893708e-15,0.7071067811865458,0.7071067811865485,1.2987741031978726e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993812,3.1260970753170206e-17,6.15010221597095e-17,1.1125772628436864e-06],"object_linear_velocity_m_s":[-7.260057437196639e-17,3.7090717168485965e-17,1.2869674020487207e-14],"object_angular_velocity_rad_s":[-1.0999272218981916e-15,-2.159430577878841e-15,8.941544768678285e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221278599,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802507,-1.3097463880167184,-1.5707951084242981,-0.44910793619502315,0.0],"actuator_force":[-5.26142684975639e-10,-18.988043948640097,-20.286344740555705,-2.413325639185473,0.000609184659992934,-6.821210263296962e-13,-0.2933611131667727],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.539999999998454,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.559999999998478,"qpos":[-2.019904262989922,-1.6014778092286868,1.3356012191727078,-1.304919736738948,-1.5707963267949252,-0.44910793619502637,0.0029336111720654977,0.00015630156142700365,0.0031934794670240244,-0.0034292989408597385,0.0029336110736142397,0.00015630110886852665,0.003197849386563261,-0.003437996890619793,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999381,5.632102249198584e-17,8.14557011481038e-17,1.1130286674980377e-06],"qvel":[-1.9559776574488387e-12,6.295951915596935e-14,-9.396207193861528e-13,-1.9422226880908413e-12,-2.8944160289426e-12,1.825160168627739e-14,-8.630365475179152e-10,-4.703557068346579e-09,4.56256882544459e-09,4.3395503567153777e-10,8.218364810212899e-10,3.045779861942415e-09,-2.77891529334555e-09,-3.501220115121464e-10,-1.0049008403927663e-16,7.0075903881222e-17,1.3333192133268206e-14,-8.756163629087103e-16,-1.7740901698163918e-15,1.6325002726330663e-08],"joint_position_rad":[-2.019904262989922,-1.6014778092286868,1.3356012191727078,-1.304919736738948,-1.5707963267949252,-0.44910793619502637],"joint_velocity_rad_s":[-1.9559776574488387e-12,6.295951915596935e-14,-9.396207193861528e-13,-1.9422226880908413e-12,-2.8944160289426e-12,1.825160168627739e-14],"linkage_position_rad":[0.0029336111720654977,0.00015630156142700365,0.0031934794670240244,-0.0034292989408597385,0.0029336110736142397,0.00015630110886852665,0.003197849386563261,-0.003437996890619793],"tcp_position_m":[0.08125537448653308,0.47723572262194514,0.43500000000000827],"tcp_quaternion_wxyz":[8.480232342621694e-15,0.707106781186547,0.7071067811865477,1.9022245548556778e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999381,5.632102249198584e-17,8.14557011481038e-17,1.1130286674980377e-06],"object_linear_velocity_m_s":[-1.0049008403927663e-16,7.0075903881222e-17,1.3333192133268206e-14],"object_angular_velocity_rad_s":[-8.756124110205751e-16,-1.774092120823104e-15,1.6325002726330676e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221289184,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025075,-1.3097463880167195,-1.5707951084242981,-0.4491079361950228,0.0],"actuator_force":[7.867129170335829e-10,-18.988043948650557,-20.286344740025015,-2.4133256386916173,0.0006091856029115661,-5.684341886080802e-14,-0.29336111207798654],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.559999999998478,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.579999999998503,"qpos":[-2.0199042629899155,-1.6014778092286868,1.335601219172711,-1.3049197367389347,-1.5707963267948981,-0.44910793619502637,0.0029336111745098137,0.0001563015754202024,0.0031934794536953885,-0.0034292989422818995,0.002933611071848511,0.00015630109972264168,0.0031978493954851438,-0.003437996889871215,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993808,4.960219485258203e-17,8.719059625049928e-17,1.113477052264054e-06],"qvel":[1.3261024388884246e-12,5.4467308109447583e-14,5.585270106244206e-13,1.5976436705303596e-12,2.6802627275916927e-12,1.5657323287009208e-14,9.578600284266152e-10,4.40577546975551e-09,-4.39135109154686e-09,-2.400962329026608e-10,-9.013970649285177e-10,-2.8533610165796695e-09,2.6949353702320767e-09,2.6335598166802577e-10,-1.1634621276917147e-16,6.553984654774925e-17,1.3440051099388378e-14,-1.5594325219709707e-15,-1.2113051988146624e-15,2.980533240165487e-08],"joint_position_rad":[-2.0199042629899155,-1.6014778092286868,1.335601219172711,-1.3049197367389347,-1.5707963267948981,-0.44910793619502637],"joint_velocity_rad_s":[1.3261024388884246e-12,5.4467308109447583e-14,5.585270106244206e-13,1.5976436705303596e-12,2.6802627275916927e-12,1.5657323287009208e-14],"linkage_position_rad":[0.0029336111745098137,0.0001563015754202024,0.0031934794536953885,-0.0034292989422818995,0.002933611071848511,0.00015630109972264168,0.0031978493954851438,-0.003437996889871215],"tcp_position_m":[0.08125537448652193,0.47723572262194525,0.4350000000000053],"tcp_quaternion_wxyz":[-1.5774315176613355e-15,0.7071067811865445,0.70710678118655,6.879785508909998e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993808,4.960219485258203e-17,8.719059625049928e-17,1.113477052264054e-06],"object_linear_velocity_m_s":[-1.1634621276917147e-16,6.553984654774925e-17,1.3440051099388378e-14],"object_angular_velocity_rad_s":[-1.5594298192485291e-15,-1.21130867455313e-15,2.980533240165492e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221326479,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.3097463880167195,-1.5707951084242984,-0.44910793619502326,0.0],"actuator_force":[-5.3887561080046e-10,-18.988043948648283,-20.286344740630284,-2.4133256390521183,0.0006091850317488934,-2.842170943040401e-14,-0.29336111260023107],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.579999999998503,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.599999999998527,"qpos":[-2.019904262989918,-1.6014778092286868,1.3356012191727094,-1.304919736738938,-1.5707963267949048,-0.44910793619502637,0.002933611171718594,0.00015630156327203182,0.0031934794662804513,-0.0034292989423569246,0.002933611074505754,0.00015630110744244418,0.003197849387988714,-0.003437996890249929,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993806,5.1049122128325124e-17,8.814595297679839e-17,1.113902087547093e-06],"qvel":[1.692177822887461e-12,3.769363226897181e-14,6.192086241741983e-13,2.922428197666767e-12,5.853012191460057e-12,1.987634891887193e-14,7.047776525983536e-10,3.9072183067043054e-09,-3.7363250475906095e-09,-3.269157413535282e-10,-5.605306620529112e-10,-2.523552599548812e-09,2.388510723047813e-09,2.1996696510490428e-10,-1.3998815950424517e-16,9.080070195400292e-17,1.2418645916733235e-14,1.3525833222410976e-15,1.3664465020301024e-15,5.4417010181586937e-08],"joint_position_rad":[-2.019904262989918,-1.6014778092286868,1.3356012191727094,-1.304919736738938,-1.5707963267949048,-0.44910793619502637],"joint_velocity_rad_s":[1.692177822887461e-12,3.769363226897181e-14,6.192086241741983e-13,2.922428197666767e-12,5.853012191460057e-12,1.987634891887193e-14],"linkage_position_rad":[0.002933611171718594,0.00015630156327203182,0.0031934794662804513,-0.0034292989423569246,0.002933611074505754,0.00015630110744244418,0.003197849387988714,-0.003437996890249929],"tcp_position_m":[0.08125537448652514,0.47723572262194514,0.4350000000000067],"tcp_quaternion_wxyz":[8.689468678637125e-16,0.707106781186545,0.707106781186549,1.020876316236191e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993806,5.1049122128325124e-17,8.814595297679839e-17,1.113902087547093e-06],"object_linear_velocity_m_s":[-1.3998815950424517e-16,9.080070195400292e-17,1.2418645916733235e-14],"object_angular_velocity_rad_s":[1.352580287655806e-15,1.3664495097616161e-15,5.441701018158704e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221287735,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802507,-1.3097463880167188,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-6.812115316279233e-10,-18.98804394864146,-20.286344740652567,-2.4133256391826308,0.0006091847182005949,-4.831690603168681e-13,-0.2933611130324524],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.599999999998527,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.61999999999855,"qpos":[-2.0199042629899226,-1.6014778092286868,1.3356012191727074,-1.3049197367389456,-1.5707963267949205,-0.44910793619502637,0.0029336111717758466,0.0001563015603862709,0.0031934794682066565,-0.0034292989408792507,0.0029336110740559233,0.00015630110949011472,0.003197849386086431,-0.0034379968907528066,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993794,5.3767763409029355e-17,7.374593022974113e-17,1.11420745237744e-06],"qvel":[2.0386133981323317e-13,3.002843800791676e-14,-1.557876029298455e-13,1.9568854865094322e-12,5.119344989431017e-12,2.487015423403857e-14,-1.7309228027598102e-10,-5.966018856669391e-10,6.714238924514217e-10,4.832615736758137e-11,3.271799334854965e-10,3.682784177443266e-10,-2.059638919229744e-10,-1.4341955292709362e-10,-1.4763409899567963e-16,1.9624596334400792e-16,1.2930736286841589e-14,1.0348419105057967e-14,1.9495694843493467e-15,9.935171858501733e-08],"joint_position_rad":[-2.0199042629899226,-1.6014778092286868,1.3356012191727074,-1.3049197367389456,-1.5707963267949205,-0.44910793619502637],"joint_velocity_rad_s":[2.0386133981323317e-13,3.002843800791676e-14,-1.557876029298455e-13,1.9568854865094322e-12,5.119344989431017e-12,2.487015423403857e-14],"linkage_position_rad":[0.0029336111717758466,0.0001563015603862709,0.0031934794682066565,-0.0034292989408792507,0.0029336110740559233,0.00015630110949011472,0.003197849386086431,-0.0034379968907528066],"tcp_position_m":[0.08125537448653188,0.4772357226219451,0.43500000000000816],"tcp_quaternion_wxyz":[6.7897006024232755e-15,0.707106781186547,0.7071067811865477,1.729919612883003e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993794,5.3767763409029355e-17,7.374593022974113e-17,1.11420745237744e-06],"object_linear_velocity_m_s":[-1.4763409899567963e-16,1.9624596334400792e-16,1.2930736286841589e-14],"object_angular_velocity_rad_s":[1.034841477523616e-14,1.949592534232058e-15,9.935171858501736e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284131,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802508,-1.30974638801672,-1.5707951084242977,-0.4491079361950229,0.0],"actuator_force":[-7.685230229981244e-11,-18.98804394863828,-20.286344740336517,-2.4133256390828137,0.0006091847994866839,-7.958078640513122e-13,-0.2933611130620268],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.61999999999855,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.639999999998576,"qpos":[-2.0199042629899213,-1.6014778092286868,1.335601219172709,-1.3049197367389462,-1.5707963267949234,-0.44910793619502637,0.0029336111722710694,0.0001563015629199871,0.0031934794655561183,-0.0034292989412509816,0.0029336110734006046,0.0001563011078382831,0.0031978493875768916,-0.0034379968904220265,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993794,7.108569100758432e-17,5.844163922934027e-17,1.1145843171115981e-06],"qvel":[-5.908960370173174e-12,9.843680201140007e-14,-1.8062545906863762e-12,-1.2139998786505184e-11,-2.5894832069428786e-11,-9.194966899139283e-15,-2.140563812735333e-09,-1.2170143074167628e-08,1.1455470843420067e-08,1.1091535459487669e-09,1.4497991233464786e-09,7.924253338896413e-09,-7.696972331586461e-09,-5.702176444985103e-10,-7.440657724274415e-17,8.441658406783923e-17,1.3427561090361344e-14,-2.1524880433263034e-15,-2.8300493889438813e-15,1.0763945100828227e-08],"joint_position_rad":[-2.0199042629899213,-1.6014778092286868,1.335601219172709,-1.3049197367389462,-1.5707963267949234,-0.44910793619502637],"joint_velocity_rad_s":[-5.908960370173174e-12,9.843680201140007e-14,-1.8062545906863762e-12,-1.2139998786505184e-11,-2.5894832069428786e-11,-9.194966899139283e-15],"linkage_position_rad":[0.0029336111722710694,0.0001563015629199871,0.0031934794655561183,-0.0034292989412509816,0.0029336110734006046,0.0001563011078382831,0.0031978493875768916,-0.0034379968904220265],"tcp_position_m":[0.08125537448653183,0.4772357226219448,0.4350000000000076],"tcp_quaternion_wxyz":[8.166965408484521e-15,0.7071067811865465,0.7071067811865478,1.7349772457114347e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993794,7.108569100758432e-17,5.844163922934027e-17,1.1145843171115981e-06],"object_linear_velocity_m_s":[-7.440657724274415e-17,8.441658406783923e-17,1.3427561090361344e-14],"object_angular_velocity_rad_s":[-2.1524817334054994e-15,-2.8300541887260077e-15,1.0763945100828238e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221293464,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167195,-1.5707951084242981,-0.4491079361950232,0.0],"actuator_force":[2.3655957193113863e-09,-18.988043948666018,-20.28634473968077,-2.413325637672642,0.0006091879021141722,2.4726887204451486e-12,-0.29336110882976024],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.44910793619502354],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.639999999998576,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.44910793619502354],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.6599999999986,"qpos":[-2.019904262989917,-1.6014778092286865,1.3356012191727096,-1.304919736738935,-1.5707963267948992,-0.44910793619502637,0.0029336111725032105,0.00015630156741750135,0.0031934794623164125,-0.003429298942754197,0.002933611073825406,0.00015630110476004528,0.0031978493904690963,-0.0034379968899589945,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993792,4.8626082461189896e-17,4.439729430015964e-17,1.1150665961161162e-06],"qvel":[1.6808611962062398e-12,4.728908126861583e-14,6.775249715404042e-13,2.395791545115315e-12,4.429402860499275e-12,1.6590662948649364e-14,9.08089492780192e-10,4.571190234806305e-09,-4.465470265915579e-09,-3.197014247474533e-10,-8.063023523035728e-10,-2.9459402155663988e-09,2.772922409276177e-09,2.733394468508916e-10,-5.810954938633345e-17,6.124730447110103e-17,1.2700365009231867e-14,-2.5579672341512777e-15,-1.7873837883296923e-15,1.965224551943447e-08],"joint_position_rad":[-2.019904262989917,-1.6014778092286865,1.3356012191727096,-1.304919736738935,-1.5707963267948992,-0.44910793619502637],"joint_velocity_rad_s":[1.6808611962062398e-12,4.728908126861583e-14,6.775249715404042e-13,2.395791545115315e-12,4.429402860499275e-12,1.6590662948649364e-14],"linkage_position_rad":[0.0029336111725032105,0.00015630156741750135,0.0031934794623164125,-0.003429298942754197,0.002933611073825406,0.00015630110476004528,0.0031978493904690963,-0.0034379968899589945],"tcp_position_m":[0.08125537448652295,0.4772357226219456,0.43500000000000594],"tcp_quaternion_wxyz":[-1.3739679050913153e-15,0.707106781186545,0.7071067811865497,7.762852200132646e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993792,4.8626082461189896e-17,4.439729430015964e-17,1.1150665961161162e-06],"object_linear_velocity_m_s":[-5.810954938633345e-17,6.124730447110103e-17,1.2700365009231867e-14],"object_angular_velocity_rad_s":[-2.5579632462959924e-15,-1.7873894948441054e-15,1.9652245519434506e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129988,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167195,-1.570795108424298,-0.44910793619502354,0.0],"actuator_force":[-6.798472895752639e-10,-18.988043948645554,-20.286344740675304,-2.4133256391318127,0.0006091848576943448,-2.2737367544323206e-13,-0.29336111282536653],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.6599999999986,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.679999999998625,"qpos":[-2.0199042629899213,-1.6014778092286865,1.3356012191727074,-1.304919736738942,-1.5707963267949128,-0.44910793619502637,0.002933611171942774,0.00015630156189306988,0.0031934794669053503,-0.0034292989411057267,0.0029336110740718416,0.0001563011084975251,0.00319784938710036,-0.0034379968907095634,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993779,2.7938898735345256e-17,5.627388054242053e-17,1.1154850432198512e-06],"qvel":[1.3423738196869226e-12,1.7200848580271192e-14,3.813745077541278e-13,3.1913344807754377e-12,7.047824307165346e-12,2.274205048027347e-14,2.8835499875403297e-10,1.949239247215459e-09,-1.811646261757998e-09,-1.6236303715869011e-10,-1.0402975308001275e-10,-1.2745840971536984e-09,1.3125529406355086e-09,2.3645957308277363e-11,-8.652226913155174e-17,3.57446743063762e-17,1.26379149640967e-14,-1.5860502274046253e-15,8.803951330548169e-16,3.588003750840868e-08],"joint_position_rad":[-2.0199042629899213,-1.6014778092286865,1.3356012191727074,-1.304919736738942,-1.5707963267949128,-0.44910793619502637],"joint_velocity_rad_s":[1.3423738196869226e-12,1.7200848580271192e-14,3.813745077541278e-13,3.1913344807754377e-12,7.047824307165346e-12,2.274205048027347e-14],"linkage_position_rad":[0.002933611171942774,0.00015630156189306988,0.0031934794669053503,-0.0034292989411057267,0.0029336110740718416,0.0001563011084975251,0.00319784938710036,-0.0034379968907095634],"tcp_position_m":[0.08125537448652903,0.47723572262194525,0.4350000000000077],"tcp_quaternion_wxyz":[3.4795944590916213e-15,0.7071067811865461,0.7071067811865479,1.4270590797706803e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993779,2.7938898735345256e-17,5.627388054242053e-17,1.1154850432198512e-06],"object_linear_velocity_m_s":[-8.652226913155174e-17,3.57446743063762e-17,1.26379149640967e-14],"object_angular_velocity_rad_s":[-1.5860521874976644e-15,8.803915926171202e-16,3.5880037508408686e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221287043,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.3254580468025077,-1.3097463880167186,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[-5.352376319933683e-10,-18.98804394863464,-20.286344740551613,-2.4133256392074145,0.000609184602581081,-7.958078640513122e-13,-0.293361113222357],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.679999999998625,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.69999999999865,"qpos":[-2.019904262989923,-1.6014778092286865,1.3356012191727071,-1.3049197367389478,-1.5707963267949265,-0.44910793619502637,0.0029336111711764103,0.00015630155729173042,0.0031934794711425147,-0.003429298940921664,0.002933611074449611,0.00015630111145137864,0.0031978493842178698,-0.0034379968907450615,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993777,4.306379041278192e-17,6.844058740982897e-17,1.1158696232066062e-06],"qvel":[-2.0854289470386277e-12,6.163497841282036e-14,-1.0084163061685332e-12,-2.075473740735815e-12,-3.077490328030016e-12,1.8362937422870098e-14,-9.77921844134325e-10,-5.211504519768838e-09,5.10452441998362e-09,3.961826074395016e-10,9.349861834582097e-10,3.346449736469076e-09,-3.073051458717899e-09,-3.440516117629802e-10,-1.336199515968971e-16,1.1425235998693886e-16,1.3172209794697557e-14,5.726387644572104e-15,3.742977508901382e-15,6.550788765240896e-08],"joint_position_rad":[-2.019904262989923,-1.6014778092286865,1.3356012191727071,-1.3049197367389478,-1.5707963267949265,-0.44910793619502637],"joint_velocity_rad_s":[-2.0854289470386277e-12,6.163497841282036e-14,-1.0084163061685332e-12,-2.075473740735815e-12,-3.077490328030016e-12,1.8362937422870098e-14],"linkage_position_rad":[0.0029336111711764103,0.00015630155729173042,0.0031934794711425147,-0.003429298940921664,0.002933611074449611,0.00015630111145137864,0.0031978493842178698,-0.0034379968907450615],"tcp_position_m":[0.08125537448653393,0.47723572262194497,0.4350000000000084],"tcp_quaternion_wxyz":[8.996787185997953e-15,0.7071067811865476,0.7071067811865471,1.9316755787008e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993777,4.306379041278192e-17,6.844058740982897e-17,1.1158696232066062e-06],"object_linear_velocity_m_s":[-1.336199515968971e-16,1.1425235998693886e-16,1.3172209794697557e-14],"object_angular_velocity_rad_s":[5.726379300174845e-15,3.742990283054084e-15,6.5507887652409e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322127579,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029995,1.325458046802507,-1.309746388016719,-1.5707951084242981,-0.4491079361950228,0.0],"actuator_force":[8.394636097364128e-10,-18.988043948650557,-20.28634473999682,-2.4133256386780886,0.000609185621897268,-8.526512829121202e-14,-0.29336111206662274],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950238],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.69999999999865,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950238],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.719999999998674,"qpos":[-2.019904262989915,-1.6014778092286865,1.3356012191727098,-1.304919736738933,-1.5707963267948961,-0.44910793619502637,0.0029336111734269217,0.0001563015718365162,0.003193479458005414,-0.003429298943098523,0.0029336110729670318,0.00015630110190712217,0.003197849393122806,-0.0034379968896446227,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993777,5.131152963543529e-17,6.099161117736868e-17,1.1161181102284406e-06],"qvel":[1.452672502845854e-12,5.632764389107572e-14,6.194788395413475e-13,1.744733517560249e-12,2.9237371930147015e-12,1.3117524773949332e-14,1.037120142476517e-09,4.799093901792819e-09,-4.769895027317657e-09,-2.685018528347506e-10,-9.74502547846289e-10,-3.091400334422897e-09,2.9096222666695948e-09,2.905177496368635e-10,-7.325295185081939e-17,5.830754704512687e-17,1.3505276702085102e-14,-1.3578931281473427e-15,-2.591642144619562e-15,7.097243172078187e-09],"joint_position_rad":[-2.019904262989915,-1.6014778092286865,1.3356012191727098,-1.304919736738933,-1.5707963267948961,-0.44910793619502637],"joint_velocity_rad_s":[1.452672502845854e-12,5.632764389107572e-14,6.194788395413475e-13,1.744733517560249e-12,2.9237371930147015e-12,1.3117524773949332e-14],"linkage_position_rad":[0.0029336111734269217,0.0001563015718365162,0.003193479458005414,-0.003429298943098523,0.0029336110729670318,0.00015630110190712217,0.003197849393122806,-0.0034379968896446227],"tcp_position_m":[0.08125537448652126,0.47723572262194525,0.4350000000000056],"tcp_quaternion_wxyz":[-2.2579650489752054e-15,0.7071067811865445,0.7071067811865502,6.042242731727751e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993777,5.131152963543529e-17,6.099161117736868e-17,1.1161181102284406e-06],"object_linear_velocity_m_s":[-7.325295185081939e-17,5.830754704512687e-17,1.3505276702085102e-14],"object_angular_velocity_rad_s":[-1.3578873421207501e-15,-2.5916451764796722e-15,7.097243172078195e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313116,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.5707951084242984,-0.4491079361950238,0.0],"actuator_force":[-5.907168088015169e-10,-18.988043948649192,-20.28634474065302,-2.4133256390675797,0.0006091850063967286,-2.842170943040401e-14,-0.2933611126327857],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948963,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.719999999998674,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948963,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.739999999998698,"qpos":[-2.0199042629899195,-1.6014778092286865,1.3356012191727076,-1.3049197367389385,-1.570796326794906,-0.44910793619502637,0.0029336111724278255,0.0001563015649092064,0.0031934794640751368,-0.0034292989414324102,0.002933611073741462,0.00015630110653518719,0.003197849388982773,-0.0034379968905494983,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993776,4.367427743048963e-17,7.04066009127208e-17,1.1165717847795237e-06],"qvel":[1.7890224583546857e-12,2.4663461156097903e-14,6.517398318198595e-13,3.1652519093919726e-12,6.416191251318828e-12,2.0913415225988347e-14,6.018103907951717e-10,3.4345174732149615e-09,-3.3079967964184796e-09,-2.598658211183815e-10,-4.474592894680623e-10,-2.228010324916106e-09,2.168139271751063e-09,1.4274621824770518e-10,-8.612324194564283e-17,5.319887830827046e-17,1.1920433334432692e-14,-1.9496157081297085e-15,-2.4284476035282225e-15,1.2957773755097452e-08],"joint_position_rad":[-2.0199042629899195,-1.6014778092286865,1.3356012191727076,-1.3049197367389385,-1.570796326794906,-0.44910793619502637],"joint_velocity_rad_s":[1.7890224583546857e-12,2.4663461156097903e-14,6.517398318198595e-13,3.1652519093919726e-12,6.416191251318828e-12,2.0913415225988347e-14],"linkage_position_rad":[0.0029336111724278255,0.0001563015649092064,0.0031934794640751368,-0.0034292989414324102,0.002933611073741462,0.00015630110653518719,0.003197849388982773,-0.0034379968905494983],"tcp_position_m":[0.08125537448652627,0.4772357226219455,0.4350000000000073],"tcp_quaternion_wxyz":[1.113985939257238e-15,0.7071067811865458,0.7071067811865487,1.1322932237804772e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993776,4.367427743048963e-17,7.04066009127208e-17,1.1165717847795237e-06],"object_linear_velocity_m_s":[-8.612324194564283e-17,5.319887830827046e-17,1.1920433334432692e-14],"object_angular_velocity_rad_s":[-1.949610283228074e-15,-2.4284519584257944e-15,1.2957773755097478e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295144,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242977,-0.44910793619502326,0.0],"actuator_force":[-7.166818249970675e-10,-18.988043948636914,-20.286344740661207,-2.413325639206846,0.0006091846624940445,-5.684341886080801e-13,-0.2933611130802199],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.739999999998698,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.759999999998723,"qpos":[-2.0199042629899226,-1.6014778092286865,1.3356012191727065,-1.3049197367389451,-1.5707963267949212,-0.44910793619502637,0.002933611170828019,0.00015630155611660518,0.003193479472523085,-0.0034292989409978308,0.0029336110749657875,0.00015630111217891855,0.003197849383620731,-0.0034379968908529513,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993763,2.767993440777002e-17,9.637519393260806e-17,1.1170275894746712e-06],"qvel":[2.5114961791342447e-13,2.5094957116288994e-14,-1.502593832680977e-13,2.148528220870083e-12,5.5901535126837314e-12,2.3611244806837833e-14,-2.2735772651990036e-10,-7.305446922824781e-10,8.691001287608521e-10,-1.6655306287497018e-11,3.985421887895713e-10,4.417811749090677e-10,-2.9047931547658266e-10,-1.2429078722295223e-10,-1.2311906137582942e-16,3.912282154557053e-17,1.2708691681916556e-14,-1.4080652922165507e-15,-1.0056077261482397e-15,2.36576226313995e-08],"joint_position_rad":[-2.0199042629899226,-1.6014778092286865,1.3356012191727065,-1.3049197367389451,-1.5707963267949212,-0.44910793619502637],"joint_velocity_rad_s":[2.5114961791342447e-13,2.5094957116288994e-14,-1.502593832680977e-13,2.148528220870083e-12,5.5901535126837314e-12,2.3611244806837833e-14],"linkage_position_rad":[0.002933611170828019,0.00015630155611660518,0.003193479472523085,-0.0034292989409978308,0.0029336110749657875,0.00015630111217891855,0.003197849383620731,-0.0034379968908529513],"tcp_position_m":[0.08125537448653206,0.47723572262194514,0.43500000000000827],"tcp_quaternion_wxyz":[7.004486242279389e-15,0.707106781186547,0.7071067811865477,1.7435477145751954e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993763,2.767993440777002e-17,9.637519393260806e-17,1.1170275894746712e-06],"object_linear_velocity_m_s":[-1.2311906137582942e-16,3.912282154557053e-17,1.2708691681916556e-14],"object_angular_velocity_rad_s":[-1.4080630410698714e-15,-1.0056108731509667e-15,2.3657622631399506e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221270231,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.325458046802508,-1.3097463880167195,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-9.595169103704393e-11,-18.988043948637824,-20.286344740337427,-2.413325639102027,0.0006091847526477068,-8.526512829121202e-13,-0.29336111314561264],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.759999999998723,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.779999999998747,"qpos":[-2.0199042629899213,-1.6014778092286865,1.3356012191727076,-1.3049197367389456,-1.5707963267949248,-0.44910793619502637,0.002933611170975878,0.00015630155819001436,0.003193479470968404,-0.0034292989419682255,0.0029336110746600134,0.00015630111074254105,0.003197849384499668,-0.0034379968902372416,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999376,2.0601377869645805e-17,1.2226208976077392e-16,1.1174696028268345e-06],"qvel":[-6.438337105899375e-12,9.943424183114646e-14,-1.9778589486098224e-12,-1.324872773110486e-11,-2.82271750804472e-11,-1.1165232116900845e-14,-2.345594421820803e-09,-1.3307233136009785e-08,1.2539366397114797e-08,1.206258407464563e-09,1.5846222020906375e-09,8.622227409365983e-09,-8.386026908972092e-09,-6.157363420291928e-10,-1.8740254918525374e-16,2.790208516077879e-17,1.3244374291298194e-14,-3.153564049651658e-16,1.9763044448329727e-15,4.319284463115743e-08],"joint_position_rad":[-2.0199042629899213,-1.6014778092286865,1.3356012191727076,-1.3049197367389456,-1.5707963267949248,-0.44910793619502637],"joint_velocity_rad_s":[-6.438337105899375e-12,9.943424183114646e-14,-1.9778589486098224e-12,-1.324872773110486e-11,-2.82271750804472e-11,-1.1165232116900845e-14],"linkage_position_rad":[0.002933611170975878,0.00015630155819001436,0.003193479470968404,-0.0034292989419682255,0.0029336110746600134,0.00015630111074254105,0.003197849384499668,-0.0034379968902372416],"tcp_position_m":[0.08125537448653224,0.47723572262194475,0.43500000000000805],"tcp_quaternion_wxyz":[8.682126562400041e-15,0.7071067811865465,0.7071067811865478,1.7864933611029867e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999376,2.0601377869645805e-17,1.2226208976077392e-16,1.1174696028268345e-06],"object_linear_velocity_m_s":[-1.8740254918525374e-16,2.790208516077879e-17,1.3244374291298194e-14],"object_angular_velocity_rad_s":[-3.1536081132296767e-16,1.976303738245993e-15,4.319284463115747e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221276827,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802507,-1.309746388016719,-1.5707951084242981,-0.44910793619502315,0.0],"actuator_force":[2.577053237473592e-09,-18.988043948666473,-20.28634473960983,-2.4133256375617975,0.0006091881359679974,2.7000623958883807e-12,-0.29336110847693353],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.779999999998747,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.79999999999877,"qpos":[-2.019904262989918,-1.6014778092286865,1.3356012191727082,-1.3049197367389351,-1.5707963267949017,-0.44910793619502637,0.0029336111731249515,0.00015630156871239228,0.00319347946043342,-0.0034292989417801455,0.0029336110731556855,0.00015630110406020348,0.0031978493913200636,-0.003437996890316661,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993759,4.108276028575724e-18,1.1386458590691663e-16,1.1178100680596544e-06],"qvel":[1.8082107164034645e-12,3.703737939672194e-14,7.250034746358473e-13,2.62998772780853e-12,4.923561126553844e-12,1.7596881371318382e-14,8.132727442599585e-10,4.211695008103656e-09,-4.13007205078958e-09,-2.8324641283747436e-10,-7.02970067088469e-10,-2.7255766571771986e-09,2.6058246037878604e-09,2.1627677716296094e-10,-2.2030166246565975e-16,-3.093132383893619e-17,1.3528868941358392e-14,-4.445709262545176e-15,3.745736237592966e-15,7.88592267447571e-08],"joint_position_rad":[-2.019904262989918,-1.6014778092286865,1.3356012191727082,-1.3049197367389351,-1.5707963267949017,-0.44910793619502637],"joint_velocity_rad_s":[1.8082107164034645e-12,3.703737939672194e-14,7.250034746358473e-13,2.62998772780853e-12,4.923561126553844e-12,1.7596881371318382e-14],"linkage_position_rad":[0.0029336111731249515,0.00015630156871239228,0.00319347946043342,-0.0034292989417801455,0.0029336110731556855,0.00015630110406020348,0.0031978493913200636,-0.003437996890316661],"tcp_position_m":[0.08125537448652413,0.4772357226219452,0.4350000000000065],"tcp_quaternion_wxyz":[-4.91829676998781e-16,0.7071067811865456,0.7071067811865491,8.72349505115937e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993759,4.108276028575724e-18,1.1386458590691663e-16,1.1178100680596544e-06],"object_linear_velocity_m_s":[-2.2030166246565975e-16,-3.093132383893619e-17,1.3528868941358392e-14],"object_angular_velocity_rad_s":[-4.4457176186188825e-15,3.745726298018533e-15,7.88592267447572e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221305891,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.3097463880167193,-1.570795108424298,-0.4491079361950234,0.0],"actuator_force":[-7.280505087692291e-10,-18.98804394864146,-20.28634474069213,-2.413325639155005,0.0006091848094911256,-2.8421709430404007e-13,-0.2933611128655452],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.79999999999877,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.819999999998796,"qpos":[-2.0199042629899218,-1.6014778092286865,1.335601219172707,-1.3049197367389411,-1.5707963267949139,-0.44910793619502637,0.0029336111709723734,0.00015630155768146516,0.0031934794712410015,-0.0034292989413023524,0.0029336110750236193,0.0001563011111339186,0.0031978493846597086,-0.003437996890783687,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993759,-1.0027889258821292e-17,9.608969467742437e-17,1.1181091998909539e-06],"qvel":[1.484009616416323e-12,1.8375376453650328e-14,4.2810233968166645e-13,3.4829609517576426e-12,7.681865528345543e-12,2.252075134311596e-14,2.750173115591455e-10,2.04860266195565e-09,-1.840210374555961e-09,-2.4089624659581445e-10,-7.076400604333323e-11,-1.3424349092117838e-09,1.3533539556203998e-09,5.4175421953408504e-11,-1.166333327891405e-16,-9.647739590373016e-18,1.229929694158603e-14,-9.104412363841162e-17,-4.157548182185629e-15,8.543751426382701e-09],"joint_position_rad":[-2.0199042629899218,-1.6014778092286865,1.335601219172707,-1.3049197367389411,-1.5707963267949139,-0.44910793619502637],"joint_velocity_rad_s":[1.484009616416323e-12,1.8375376453650328e-14,4.2810233968166645e-13,3.4829609517576426e-12,7.681865528345543e-12,2.252075134311596e-14],"linkage_position_rad":[0.0029336111709723734,0.00015630155768146516,0.0031934794712410015,-0.0034292989413023524,0.0029336110750236193,0.0001563011111339186,0.0031978493846597086,-0.003437996890783687],"tcp_position_m":[0.08125537448652964,0.4772357226219449,0.43500000000000805],"tcp_quaternion_wxyz":[4.149441711519107e-15,0.7071067811865465,0.7071067811865478,1.4247365707604124e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993759,-1.0027889258821292e-17,9.608969467742437e-17,1.1181091998909539e-06],"object_linear_velocity_m_s":[-1.166333327891405e-16,-9.647739590373016e-18,1.229929694158603e-14],"object_angular_velocity_rad_s":[-9.103482481050844e-17,-4.157548385598433e-15,8.543751426382718e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221272977,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802507,-1.3097463880167188,-1.570795108424298,-0.4491079361950236,0.0],"actuator_force":[-5.907168088015169e-10,-18.988043948634186,-20.286344740571167,-2.4133256392372004,0.0006091845398259466,-8.526512829121202e-13,-0.2933611133210662],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950226],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.819999999998796,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950226],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.83999999999882,"qpos":[-2.0199042629899244,-1.6014778092286863,1.3356012191727065,-1.3049197367389473,-1.5707963267949292,-0.44910793619502626,0.0029336111697761454,0.00015630155203220708,0.0031934794770855876,-0.003429298941614694,0.002933611075810308,0.00015630111467863784,0.0031978493808272022,-0.0034379968905905857,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993746,-2.303242621828939e-17,1.0967566576795781e-16,1.1185947442947981e-06],"qvel":[-2.2623066542568382e-12,5.933346173255198e-14,-1.0960062924069044e-12,-2.2725418977377925e-12,-3.3448537813896515e-12,1.9020597526556605e-14,-1.0732041049937456e-09,-5.704496187103594e-09,5.600302387052932e-09,4.270142452003965e-10,1.0262407934978591e-09,3.6458283690269357e-09,-3.3573295695247305e-09,-3.7345075237483003e-10,-1.3654818216506953e-16,-2.7834180673897863e-17,1.3113923085904738e-14,3.968623330081878e-16,-3.416038210289104e-15,1.5598732538629055e-08],"joint_position_rad":[-2.0199042629899244,-1.6014778092286863,1.3356012191727065,-1.3049197367389473,-1.5707963267949292,-0.44910793619502626],"joint_velocity_rad_s":[-2.2623066542568382e-12,5.933346173255198e-14,-1.0960062924069044e-12,-2.2725418977377925e-12,-3.3448537813896515e-12,1.9020597526556605e-14],"linkage_position_rad":[0.0029336111697761454,0.00015630155203220708,0.0031934794770855876,-0.003429298941614694,0.002933611075810308,0.00015630111467863784,0.0031978493808272022,-0.0034379968905905857],"tcp_position_m":[0.08125537448653508,0.4772357226219446,0.4350000000000086],"tcp_quaternion_wxyz":[1.0303617785924572e-14,0.707106781186548,0.7071067811865467,1.9629964816545238e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993746,-2.303242621828939e-17,1.0967566576795781e-16,1.1185947442947981e-06],"object_linear_velocity_m_s":[-1.3654818216506953e-16,-2.7834180673897863e-17,1.3113923085904738e-14],"object_angular_velocity_rad_s":[3.968699787535735e-16,-3.4160373217057597e-15,1.5598732538629062e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221257452,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025077,-1.3097463880167195,-1.5707951084242981,-0.4491079361950226,0.0],"actuator_force":[9.140421752817929e-10,-18.988043948650557,-20.28634473995953,-2.413325638658762,0.0006091856499779169,-8.526512829121202e-14,-0.29336111204450616],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389322,-1.5707963267948968,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.83999999999882,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389322,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.859999999998845,"qpos":[-2.0199042629899173,-1.6014778092286863,1.3356012191727091,-1.3049197367389327,-1.5707963267948992,-0.44910793619502626,0.0029336111739670274,0.000156301572878674,0.0031934794563553194,-0.0034292989421036506,0.0029336110723844396,0.00015630110137335854,0.0031978493938332768,-0.0034379968900436603,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993745,-5.381823686111848e-18,1.104857421494461e-16,1.1190231812241356e-06],"qvel":[1.596984576557976e-12,4.609417106651292e-14,6.731876643409775e-13,1.9468195744982472e-12,3.3369320823942305e-12,1.3616853945157556e-14,9.502874401066883e-10,4.52264858717261e-09,-4.500853420926344e-09,-2.569966639801193e-10,-8.811281999154473e-10,-2.9267076034276518e-09,2.781633107552261e-09,2.5177734149801414e-10,-1.4901052814614456e-16,-4.886359665863446e-18,1.351637893233136e-14,1.1093990676834571e-15,-1.8571246220425365e-15,2.8479346444972365e-08],"joint_position_rad":[-2.0199042629899173,-1.6014778092286863,1.3356012191727091,-1.3049197367389327,-1.5707963267948992,-0.44910793619502626],"joint_velocity_rad_s":[1.596984576557976e-12,4.609417106651292e-14,6.731876643409775e-13,1.9468195744982472e-12,3.3369320823942305e-12,1.3616853945157556e-14],"linkage_position_rad":[0.0029336111739670274,0.000156301572878674,0.0031934794563553194,-0.0034292989421036506,0.0029336110723844396,0.00015630110137335854,0.0031978493938332768,-0.0034379968900436603],"tcp_position_m":[0.08125537448652306,0.47723572262194497,0.43500000000000605],"tcp_quaternion_wxyz":[-9.620501493695557e-16,0.7071067811865452,0.7071067811865495,6.802094534671614e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993745,-5.381823686111848e-18,1.104857421494461e-16,1.1190231812241356e-06],"object_linear_velocity_m_s":[-1.4901052814614456e-16,-4.886359665863446e-18,1.351637893233136e-14],"object_angular_velocity_rad_s":[1.1094032303048082e-15,-1.857122138844791e-15,2.8479346444972398e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221318476,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.3097463880167195,-1.5707951084242984,-0.44910793619502365,0.0],"actuator_force":[-6.443769962061197e-10,-18.98804394864601,-20.286344740672575,-2.4133256390880433,0.0006091849667200222,-5.684341886080802e-14,-0.29336111266336956],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.859999999998845,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.87999999999887,"qpos":[-2.0199042629899204,-1.6014778092286863,1.3356012191727078,-1.3049197367389374,-1.570796326794907,-0.44910793619502626,0.0029336111714644213,0.00015630156091661366,0.003193479468259691,-0.003429298941704648,0.0029336110747022505,0.0001563011090572923,0.0031978493866094363,-0.0034379968905838463,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993743,2.0572961266059247e-18,1.0306330712713299e-16,1.1194293074472515e-06],"qvel":[1.967931765033157e-12,2.2113005325514556e-14,7.264889318742855e-13,3.4568882606647876e-12,6.9994014420579484e-12,2.0820714929639644e-14,6.167350936040904e-10,3.671999360099003e-09,-3.4749934313232127e-09,-3.416836725321256e-10,-4.4566884430141123e-10,-2.380549314029525e-09,2.2825684732850683e-09,1.814239791498676e-10,-1.615166242617021e-16,-1.154972638696505e-18,1.2646241636781395e-14,6.73169889806447e-16,1.7076188289830287e-16,5.199609467785169e-08],"joint_position_rad":[-2.0199042629899204,-1.6014778092286863,1.3356012191727078,-1.3049197367389374,-1.570796326794907,-0.44910793619502626],"joint_velocity_rad_s":[1.967931765033157e-12,2.2113005325514556e-14,7.264889318742855e-13,3.4568882606647876e-12,6.9994014420579484e-12,2.0820714929639644e-14],"linkage_position_rad":[0.0029336111714644213,0.00015630156091661366,0.003193479468259691,-0.003429298941704648,0.0029336110747022505,0.0001563011090572923,0.0031978493866094363,-0.0034379968905838463],"tcp_position_m":[0.08125537448652696,0.4772357226219449,0.43500000000000716],"tcp_quaternion_wxyz":[1.6749593280132483e-15,0.7071067811865465,0.7071067811865482,1.1001306358633914e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993743,2.0572961266059247e-18,1.0306330712713299e-16,1.1194293074472515e-06],"object_linear_velocity_m_s":[-1.615166242617021e-16,-1.154972638696505e-18,1.2646241636781395e-14],"object_angular_velocity_rad_s":[6.731695182108276e-16,1.7076338981615155e-16,5.199609467785178e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281869,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025081,-1.3097463880167193,-1.570795108424298,-0.44910793619502326,0.0],"actuator_force":[-7.871676643844694e-10,-18.98804394863646,-20.286344740689856,-2.413325639236632,0.0006091846045137572,-5.968558980384842e-13,-0.29336111316366487],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.87999999999887,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.899999999998894,"qpos":[-2.0199042629899235,-1.6014778092286863,1.3356012191727067,-1.304919736738945,-1.5707963267949228,-0.44910793619502626,0.002933611169389654,0.00015630155074081772,0.003193479478606707,-0.003429298941703001,0.002933611076381067,0.00015630111549140875,0.003197849380162442,-0.0034379968906970444,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993741,1.4687591029876031e-18,9.121544257356534e-17,1.1197768485860243e-06],"qvel":[2.8577006794609843e-13,2.3756392799995684e-14,-1.6481236939379848e-13,2.3438528863280705e-12,6.101667467784478e-12,2.3721451925690615e-14,-2.5260494086778465e-10,-8.092021923815642e-10,9.708646447160727e-10,-2.438169187822186e-11,4.4131703302346775e-10,4.867751549650247e-10,-3.2599876347567176e-10,-1.3423021966768033e-10,-2.3346315746585827e-16,-2.6112322721205363e-17,1.2693426115327966e-14,-1.7747578761330877e-15,5.958649109007432e-15,9.493173823250935e-08],"joint_position_rad":[-2.0199042629899235,-1.6014778092286863,1.3356012191727067,-1.304919736738945,-1.5707963267949228,-0.44910793619502626],"joint_velocity_rad_s":[2.8577006794609843e-13,2.3756392799995684e-14,-1.6481236939379848e-13,2.3438528863280705e-12,6.101667467784478e-12,2.3721451925690615e-14],"linkage_position_rad":[0.002933611169389654,0.00015630155074081772,0.003193479478606707,-0.003429298941703001,0.002933611076381067,0.00015630111549140875,0.003197849380162442,-0.0034379968906970444],"tcp_position_m":[0.08125537448653299,0.4772357226219447,0.43500000000000816],"tcp_quaternion_wxyz":[7.776182208674337e-15,0.7071067811865478,0.7071067811865467,1.7527570033494275e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993741,1.4687591029876031e-18,9.121544257356534e-17,1.1197768485860243e-06],"object_linear_velocity_m_s":[-2.3346315746585827e-16,-2.6112322721205363e-17,1.2693426115327966e-14],"object_angular_velocity_rad_s":[-1.7747712035248013e-15,5.958645134048093e-15,9.493173823250953e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221251343,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025075,-1.309746388016719,-1.5707951084242977,-0.4491079361950233,0.0],"actuator_force":[-1.0686562745831907e-10,-18.98804394863646,-20.286344740332424,-2.4133256391214672,0.0006091847023981245,-9.094947017729282e-13,-0.29336111323209646],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950242],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.899999999998894,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.919999999998918,"qpos":[-2.0199042629899235,-1.6014778092286863,1.3356012191727074,-1.3049197367389465,-1.5707963267949283,-0.44910793619502626,0.0029336111712911844,0.00015630155776894582,0.003193479470613984,-0.0034292989408927664,0.002933611074253863,0.00015630111115919778,0.003197849384425369,-0.0034379968907039334,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999373,-6.521527490713331e-18,8.416287691460433e-17,1.1201369472818654e-06],"qvel":[-6.7614327192471884e-12,9.432903248082265e-14,-2.0900946731703386e-12,-1.3976451090653841e-11,-2.9764362313270145e-11,-1.8373740454821854e-14,-2.576292683851762e-09,-1.4783719547522043e-08,1.3860645570482482e-08,1.2791751536464436e-09,1.7675552420434537e-09,9.57795442893249e-09,-9.18184970646129e-09,-6.856379255764149e-10,-1.060767244032094e-16,-6.598578414215416e-18,1.3202740927874759e-14,-2.3520432420831464e-16,-3.3862543363114424e-15,1.028507642559253e-08],"joint_position_rad":[-2.0199042629899235,-1.6014778092286863,1.3356012191727074,-1.3049197367389465,-1.5707963267949283,-0.44910793619502626],"joint_velocity_rad_s":[-6.7614327192471884e-12,9.432903248082265e-14,-2.0900946731703386e-12,-1.3976451090653841e-11,-2.9764362313270145e-11,-1.8373740454821854e-14],"linkage_position_rad":[0.0029336111712911844,0.00015630155776894582,0.003193479470613984,-0.0034292989408927664,0.002933611074253863,0.00015630111115919778,0.003197849384425369,-0.0034379968907039334],"tcp_position_m":[0.08125537448653432,0.47723572262194447,0.43500000000000816],"tcp_quaternion_wxyz":[1.0192130257131435e-14,0.7071067811865478,0.7071067811865469,1.8871391888627795e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999373,-6.521527490713331e-18,8.416287691460433e-17,1.1201369472818654e-06],"object_linear_velocity_m_s":[-1.060767244032094e-16,-6.598578414215416e-18,1.3202740927874759e-14],"object_angular_velocity_rad_s":[-2.3519673633929146e-16,-3.3862548630909034e-15,1.0285076425592537e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221278091,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025068,-1.309746388016719,-1.5707951084242981,-0.4491079361950242,0.0],"actuator_force":[2.7116584533359855e-09,-18.9880439486642,-20.286344739565266,-2.413325637488583,0.0006091882914915914,2.8705926524708048e-12,-0.29336110823356515],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950241],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.919999999998918,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.939999999998943,"qpos":[-2.019904262989918,-1.6014778092286863,1.3356012191727087,-1.3049197367389345,-1.5707963267949012,-0.44910793619502626,0.0029336111721941175,0.000156301565015721,0.003193479464386479,-0.003429298942133445,0.0029336110740961273,0.00015630110638927336,0.003197849389100001,-0.0034379968903070312,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993727,3.0905663130892174e-18,7.36326290896701e-17,1.120597770555625e-06],"qvel":[1.9868488567596863e-12,3.762585463190414e-14,8.013148052867767e-13,2.878580126838856e-12,5.373665868219064e-12,1.382042507528977e-14,8.481618081255811e-10,4.523914523025805e-09,-4.377634175013936e-09,-3.62294107562563e-10,-7.254458626032941e-10,-2.9228815812570177e-09,2.758778129020639e-09,2.5907672439509196e-10,-9.426900929009453e-17,6.094647507833952e-18,1.2968206313922698e-14,3.344054350331879e-16,-2.6348764406722422e-15,1.877795224785631e-08],"joint_position_rad":[-2.019904262989918,-1.6014778092286863,1.3356012191727087,-1.3049197367389345,-1.5707963267949012,-0.44910793619502626],"joint_velocity_rad_s":[1.9868488567596863e-12,3.762585463190414e-14,8.013148052867767e-13,2.878580126838856e-12,5.373665868219064e-12,1.382042507528977e-14],"linkage_position_rad":[0.0029336111721941175,0.000156301565015721,0.003193479464386479,-0.003429298942133445,0.0029336110740961273,0.00015630110638927336,0.003197849389100001,-0.0034379968903070312],"tcp_position_m":[0.08125537448652403,0.477235722621945,0.43500000000000627],"tcp_quaternion_wxyz":[-4.961275493464218e-16,0.7071067811865456,0.7071067811865491,8.183134082149943e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993727,3.0905663130892174e-18,7.36326290896701e-17,1.120597770555625e-06],"object_linear_velocity_m_s":[-9.426900929009453e-17,6.094647507833952e-18,1.2968206313922698e-14],"object_angular_velocity_rad_s":[3.344113430710188e-16,-2.634875691313724e-15,1.8777952247856328e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221293362,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.4491079361950241,0.0],"actuator_force":[-7.98536348156631e-10,-18.988043948641916,-20.286344740723052,-2.4133256391802433,0.0006091847641300774,-3.126388037344441e-13,-0.293361112928092],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.939999999998943,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.959999999998967,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.304919736738941,-1.5707963267949134,-0.44910793619502626,0.0029336111695475483,0.0001563015524544596,0.00319347947721483,-0.0034292989420349096,0.0029336110764458466,0.0001563011143476738,0.0031978493812850855,-0.0034379968906264884,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993725,1.2659483653098974e-17,6.583634369737723e-17,1.1210523478068505e-06],"qvel":[1.6253115117445425e-12,1.3616629462433277e-14,4.72374908040716e-13,3.801196093172829e-12,8.376358968727793e-12,2.384807000111847e-14,2.957341324576025e-10,2.2265819652878414e-09,-1.9887839802072627e-09,-2.680302462280849e-10,-7.069041066810746e-11,-1.4529269337474543e-09,1.4604943992150173e-09,5.975255762769137e-11,-9.342620689087468e-17,2.087194321769737e-17,1.2450564828691216e-14,3.909118927035683e-16,-1.3192848054701425e-15,3.428379878105854e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.304919736738941,-1.5707963267949134,-0.44910793619502626],"joint_velocity_rad_s":[1.6253115117445425e-12,1.3616629462433277e-14,4.72374908040716e-13,3.801196093172829e-12,8.376358968727793e-12,2.384807000111847e-14],"linkage_position_rad":[0.0029336111695475483,0.0001563015524544596,0.00319347947721483,-0.0034292989420349096,0.0029336110764458466,0.0001563011143476738,0.0031978493812850855,-0.0034379968906264884],"tcp_position_m":[0.08125537448652934,0.477235722621945,0.4350000000000077],"tcp_quaternion_wxyz":[4.107285217165104e-15,0.7071067811865465,0.7071067811865478,1.363662843706001e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993725,1.2659483653098974e-17,6.583634369737723e-17,1.1210523478068505e-06],"object_linear_velocity_m_s":[-9.342620689087468e-17,2.087194321769737e-17,1.2450564828691216e-14],"object_angular_velocity_rad_s":[3.909148551914845e-16,-1.3192839298694637e-15,3.42837987810586e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221254396,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.3097463880167186,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-6.475602276623249e-10,-18.98804394863282,-20.286344740588902,-2.4133256392690328,0.000609184470135915,-9.379164112033322e-13,-0.29336111342488835],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.959999999998967,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.97999999999899,"qpos":[-2.0199042629899258,-1.601477809228686,1.3356012191727065,-1.3049197367389485,-1.5707963267949308,-0.44910793619502626,0.0029336111699331566,0.00015630155071975636,0.003193479477573326,-0.00342929894052608,0.002933611075561016,0.00015630111565226274,0.0031978493803082944,-0.0034379968911065926,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993713,1.4382176632774082e-17,6.420172641788486e-17,1.1214198185174927e-06],"qvel":[-2.3292983854195584e-12,4.8295107496095505e-14,-1.1420564686055597e-12,-2.3147566759869196e-12,-3.3526612703777894e-12,1.736196744825929e-14,-1.234803440706585e-09,-6.590235302519961e-09,6.440031336309719e-09,4.3109816153804977e-10,1.1882161610914372e-09,4.207807462847246e-09,-3.813962601212588e-09,-4.1872607565866236e-10,-1.282763119007301e-16,2.625582043912356e-17,1.2438074819664185e-14,5.058039564606514e-16,2.5651008195248723e-15,6.259355883675364e-08],"joint_position_rad":[-2.0199042629899258,-1.601477809228686,1.3356012191727065,-1.3049197367389485,-1.5707963267949308,-0.44910793619502626],"joint_velocity_rad_s":[-2.3292983854195584e-12,4.8295107496095505e-14,-1.1420564686055597e-12,-2.3147566759869196e-12,-3.3526612703777894e-12,1.736196744825929e-14],"linkage_position_rad":[0.0029336111699331566,0.00015630155071975636,0.003193479477573326,-0.00342929894052608,0.002933611075561016,0.00015630111565226274,0.0031978493803082944,-0.0034379968911065926],"tcp_position_m":[0.08125537448653622,0.47723572262194464,0.43500000000000855],"tcp_quaternion_wxyz":[1.0931718062693897e-14,0.7071067811865483,0.7071067811865461,2.0493578962117134e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993713,1.4382176632774082e-17,6.420172641788486e-17,1.1214198185174927e-06],"object_linear_velocity_m_s":[-1.282763119007301e-16,2.625582043912356e-17,1.2438074819664185e-14],"object_angular_velocity_rad_s":[5.057982113868194e-16,2.5651019521551288e-15,6.259355883675366e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221255681,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802508,-1.30974638801672,-1.5707951084242981,-0.4491079361950229,0.0],"actuator_force":[9.422365110367537e-10,-18.98804394864692,-20.286344739940432,-2.413325638654328,0.0006091856515695326,-8.526512829121202e-14,-0.29336111204177223],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.44910793619502387],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.97999999999899,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":17.999999999999016,"qpos":[-2.019904262989916,-1.601477809228686,1.3356012191727094,-1.3049197367389316,-1.5707963267948972,-0.44910793619502626,0.002933611173077114,0.0001563015694918775,0.003193479460054734,-0.0034292989425345004,0.00293361107329258,0.00015630110350005062,0.0031978493917705375,-0.0034379968899928928,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993712,1.405008592771309e-17,5.824657340522939e-17,1.1217110000619785e-06],"qvel":[1.748795259342874e-12,4.865348802319722e-14,7.41328794649368e-13,2.1376603062118786e-12,3.647863708097522e-12,1.2580975798598471e-14,9.992443177299879e-10,4.8698553310562315e-09,-4.7912406821336435e-09,-3.2910304692023806e-10,-9.216383270510712e-10,-3.1439463652633523e-09,2.953178533563039e-09,2.965262388836266e-10,-1.658992467403578e-16,9.310095948218162e-17,1.3191638697628509e-14,5.907362063997187e-15,5.700388094457353e-15,1.1428003159365345e-07],"joint_position_rad":[-2.019904262989916,-1.601477809228686,1.3356012191727094,-1.3049197367389316,-1.5707963267948972,-0.44910793619502626],"joint_velocity_rad_s":[1.748795259342874e-12,4.865348802319722e-14,7.41328794649368e-13,2.1376603062118786e-12,3.647863708097522e-12,1.2580975798598471e-14],"linkage_position_rad":[0.002933611173077114,0.0001563015694918775,0.003193479460054734,-0.0034292989425345004,0.00293361107329258,0.00015630110350005062,0.0031978493917705375,-0.0034379968899928928],"tcp_position_m":[0.08125537448652177,0.4772357226219449,0.4350000000000055],"tcp_quaternion_wxyz":[-1.6157575629634744e-15,0.7071067811865448,0.7071067811865499,5.501301721953393e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993712,1.405008592771309e-17,5.824657340522939e-17,1.1217110000619785e-06],"object_linear_velocity_m_s":[-1.658992467403578e-16,9.310095948218162e-17,1.3191638697628509e-14],"object_angular_velocity_rad_s":[5.9073492889191085e-15,5.7004013439377545e-15,1.1428003159365353e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221306831,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.309746388016719,-1.570795108424298,-0.44910793619502387,0.0],"actuator_force":[-7.075868779793382e-10,-18.98804394864692,-20.286344740701225,-2.4133256391074838,0.0006091849347740208,-5.684341886080802e-14,-0.29336111270651466],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":17.999999999999016,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.01999999999904,"qpos":[-2.019904262989919,-1.601477809228686,1.3356012191727082,-1.304919736738937,-1.570796326794906,-0.44910793619502626,0.0029336111700807247,0.00015630155596617085,0.0031934794739876633,-0.0034292989424842073,0.002933611076100883,0.0001563011120841746,0.00319784938341429,-0.0034379968904093656,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993711,2.9670470401764386e-17,6.06601206135155e-17,1.1221444914433001e-06],"qvel":[2.1491543042528223e-12,2.035852653571492e-14,7.933111832187096e-13,3.774220105113089e-12,7.629345944092668e-12,2.1301870063393638e-14,6.690117439322166e-10,4.00116839883133e-09,-3.777598881185936e-09,-3.773311284153317e-10,-4.802833895487911e-10,-2.581625539903968e-09,2.470586388785101e-09,1.982581485844981e-10,-7.421531279544787e-17,3.3375216356301963e-17,1.2697589451670317e-14,-6.083704567143556e-16,-1.989446416637123e-15,1.2381305564859136e-08],"joint_position_rad":[-2.019904262989919,-1.601477809228686,1.3356012191727082,-1.304919736738937,-1.570796326794906,-0.44910793619502626],"joint_velocity_rad_s":[2.1491543042528223e-12,2.035852653571492e-14,7.933111832187096e-13,3.774220105113089e-12,7.629345944092668e-12,2.1301870063393638e-14],"linkage_position_rad":[0.0029336111700807247,0.00015630155596617085,0.0031934794739876633,-0.0034292989424842073,0.002933611076100883,0.0001563011120841746,0.00319784938341429,-0.0034379968904093656],"tcp_position_m":[0.08125537448652606,0.4772357226219451,0.4350000000000065],"tcp_quaternion_wxyz":[1.5086574927192205e-15,0.7071067811865459,0.7071067811865488,1.0187919124215584e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993711,2.9670470401764386e-17,6.06601206135155e-17,1.1221444914433001e-06],"object_linear_velocity_m_s":[-7.421531279544787e-17,3.3375216356301963e-17,1.2697589451670317e-14],"object_angular_velocity_rad_s":[-6.083659903180455e-16,-1.9894477827259456e-15,1.2381305564859152e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263921,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.309746388016719,-1.5707951084242977,-0.44910793619502326,0.0],"actuator_force":[-8.61291482578963e-10,-18.988043948636005,-20.28634474071896,-2.4133256392684643,0.0006091845411901886,-6.536993168992922e-13,-0.2933611132527222],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.01999999999904,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.039999999999065,"qpos":[-2.019904262989925,-1.601477809228686,1.3356012191727058,-1.3049197367389456,-1.570796326794925,-0.44910793619502626,0.0029336111694280302,0.000156301548915667,0.003193479479621276,-0.003429298940648141,0.0029336110762669546,0.00015630111677617653,0.0031978493793747066,-0.0034379968912467813,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999371,1.7966098903493386e-17,6.967000065554259e-17,1.1225800182023867e-06],"qvel":[3.8253747206084594e-13,1.446950077998397e-14,-1.4595039643418188e-13,2.5980713596550553e-12,6.683340241950559e-12,2.5325726883755953e-14,-3.6963229757109575e-10,-1.295818283315391e-09,1.4730771467833766e-09,-6.680890650762857e-11,5.74938618761875e-10,7.902952640078056e-10,-5.767468322874905e-10,-1.542122377137597e-10,-9.171839771247506e-17,2.3866398314197776e-17,1.2260439135724162e-14,-1.1199185776758173e-15,-9.943314714120698e-16,2.2605137292371435e-08],"joint_position_rad":[-2.019904262989925,-1.601477809228686,1.3356012191727058,-1.3049197367389456,-1.570796326794925,-0.44910793619502626],"joint_velocity_rad_s":[3.8253747206084594e-13,1.446950077998397e-14,-1.4595039643418188e-13,2.5980713596550553e-12,6.683340241950559e-12,2.5325726883755953e-14],"linkage_position_rad":[0.0029336111694280302,0.000156301548915667,0.003193479479621276,-0.003429298940648141,0.0029336110762669546,0.00015630111677617653,0.0031978493793747066,-0.0034379968912467813],"tcp_position_m":[0.08125537448653432,0.4772357226219448,0.43500000000000866],"tcp_quaternion_wxyz":[8.482380781412733e-15,0.7071067811865481,0.7071067811865464,1.8501800154563563e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999371,1.7966098903493386e-17,6.967000065554259e-17,1.1225800182023867e-06],"object_linear_velocity_m_s":[-9.171839771247506e-17,2.3866398314197776e-17,1.2260439135724162e-14],"object_angular_velocity_rad_s":[-1.1199163420899137e-15,-9.94333986618249e-16,2.260513729237148e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322124777,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.3097463880167186,-1.5707951084242977,-0.44910793619502315,0.0],"actuator_force":[-1.4279066817834973e-10,-18.988043948633276,-20.2863447403397,-2.413325639146251,0.0006091846452136451,-9.947598300641403e-13,-0.29336111331128084],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950237],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.039999999999065,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.05999999999909,"qpos":[-2.0199042629899138,-1.601477809228686,1.3356012191727096,-1.30491973673893,-1.5707963267948952,-0.44910793619502626,0.002933611174057302,0.00015630157401938226,0.003193479455600937,-0.0034292989428741194,0.002933611072356855,0.00015630110057323357,0.0031978493944911737,-0.003437996889665737,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993696,1.8045431411305266e-17,7.574649044887443e-17,1.1230023671706817e-06],"qvel":[1.3920925292420048e-12,5.805077011565306e-14,6.176786993958261e-13,1.4265343951132727e-12,2.1533568658728946e-12,1.1915726253152896e-14,1.0899450015343836e-09,4.89261642688557e-09,-4.888252370881054e-09,-2.627439855010643e-10,-1.047893091962315e-09,-3.1594014398979618e-09,2.970472155397971e-09,3.0048602220902824e-10,-1.1170965284926354e-16,2.880301549488755e-17,1.2908531826349096e-14,1.1676775900879344e-16,2.934412737127515e-16,4.1271272187773526e-08],"joint_position_rad":[-2.0199042629899138,-1.601477809228686,1.3356012191727096,-1.30491973673893,-1.5707963267948952,-0.44910793619502626],"joint_velocity_rad_s":[1.3920925292420048e-12,5.805077011565306e-14,6.176786993958261e-13,1.4265343951132727e-12,2.1533568658728946e-12,1.1915726253152896e-14],"linkage_position_rad":[0.002933611174057302,0.00015630157401938226,0.003193479455600937,-0.0034292989428741194,0.002933611072356855,0.00015630110057323357,0.0031978493944911737,-0.003437996889665737],"tcp_position_m":[0.08125537448652015,0.4772357226219451,0.4350000000000053],"tcp_quaternion_wxyz":[-2.2844459360606955e-15,0.7071067811865442,0.7071067811865507,4.597099480053606e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993696,1.8045431411305266e-17,7.574649044887443e-17,1.1230023671706817e-06],"object_linear_velocity_m_s":[-1.1170965284926354e-16,2.880301549488755e-17,1.2908531826349096e-14],"object_angular_velocity_rad_s":[1.1676710619031868e-16,2.934415344834422e-16,4.1271272187773546e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221320618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.5707951084242984,-0.4491079361950237,0.0],"actuator_force":[-5.688889359589666e-10,-18.988043948650557,-20.286344740651657,-2.4133256390372253,0.000609185083135344,8.526512829121202e-14,-0.29336111253096736],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389316,-1.5707963267948966,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.05999999999909,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389316,-1.5707963267948966,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.079999999999114,"qpos":[-2.019904262989918,-1.601477809228686,1.335601219172708,-1.3049197367389351,-1.5707963267949026,-0.44910793619502626,0.002933611172087312,0.0001563015632117631,0.0031934794655521658,-0.003429298941380553,0.0029336110741765894,0.00015630110762572083,0.0031978493883441585,-0.0034379968907730487,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993694,1.582745798454617e-17,7.788946921365592e-17,1.1233829610678273e-06],"qvel":[2.1813396942785394e-12,3.2761359618517833e-14,8.886453094658696e-13,3.1539708251333504e-12,5.864249016296005e-12,1.633680691304645e-14,8.040535330102911e-10,4.5671978641785695e-09,-4.33804890676608e-09,-4.602144360826492e-10,-6.692983858606223e-10,-2.957580611972855e-09,2.7588951152213377e-09,2.9291440089494323e-10,-1.611944146024764e-16,2.6549232901983778e-17,1.3297109884967898e-14,-1.6285735101857215e-16,4.1944121441488316e-15,7.535092072062401e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228686,1.335601219172708,-1.3049197367389351,-1.5707963267949026,-0.44910793619502626],"joint_velocity_rad_s":[2.1813396942785394e-12,3.2761359618517833e-14,8.886453094658696e-13,3.1539708251333504e-12,5.864249016296005e-12,1.633680691304645e-14],"linkage_position_rad":[0.002933611172087312,0.0001563015632117631,0.0031934794655521658,-0.003429298941380553,0.0029336110741765894,0.00015630110762572083,0.0031978493883441585,-0.0034379968907730487],"tcp_position_m":[0.08125537448652442,0.4772357226219453,0.4350000000000065],"tcp_quaternion_wxyz":[-4.936797197435911e-17,0.7071067811865456,0.7071067811865491,8.930442887381225e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993694,1.582745798454617e-17,7.788946921365592e-17,1.1233829610678273e-06],"object_linear_velocity_m_s":[-1.611944146024764e-16,2.6549232901983778e-17,1.3297109884967898e-14],"object_angular_velocity_rad_s":[-1.6286676314234098e-16,4.194411775850688e-15,7.535092072062406e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221289108,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.3097463880167188,-1.570795108424298,-0.44910793619502365,0.0],"actuator_force":[-8.772076398599893e-10,-18.98804394864146,-20.28634474075625,-2.413325639207187,0.0006091847159268582,-3.126388037344441e-13,-0.2933611129869708],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389314,-1.5707963267948968,-0.44910793619502354],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.079999999999114,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389314,-1.5707963267948968,-0.44910793619502354],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.099999999999138,"qpos":[-2.019904262989923,-1.601477809228686,1.3356012191727065,-1.3049197367389425,-1.5707963267949168,-0.44910793619502626,0.0029336111697204703,0.00015630155085498106,0.003193479477667874,-0.0034292989408226055,0.0029336110762074948,0.0001563011154670763,0.0031978493809261136,-0.0034379968912755256,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993694,1.1912366725760439e-17,6.828379622216104e-17,1.123668785058699e-06],"qvel":[1.8146009950010801e-12,7.531968253634829e-15,5.433877731945033e-13,4.149895849698543e-12,9.078950154809978e-12,2.3513768732298353e-14,1.8974216588128904e-10,1.9659458430953395e-09,-1.6408275613901458e-09,-3.725784364974641e-10,5.541748348514933e-11,-1.2989317357148757e-09,1.2998789552560941e-09,7.70153971766442e-11,-8.314562091051765e-17,1.410436301887268e-17,1.256991380383842e-14,-4.253061840825264e-16,-2.963846531331706e-15,8.163655198773182e-09],"joint_position_rad":[-2.019904262989923,-1.601477809228686,1.3356012191727065,-1.3049197367389425,-1.5707963267949168,-0.44910793619502626],"joint_velocity_rad_s":[1.8146009950010801e-12,7.531968253634829e-15,5.433877731945033e-13,4.149895849698543e-12,9.078950154809978e-12,2.3513768732298353e-14],"linkage_position_rad":[0.0029336111697204703,0.00015630155085498106,0.003193479477667874,-0.0034292989408226055,0.0029336110762074948,0.0001563011154670763,0.0031978493809261136,-0.0034379968912755256],"tcp_position_m":[0.08125537448653114,0.47723572262194525,0.43500000000000805],"tcp_quaternion_wxyz":[5.376258189850929e-15,0.7071067811865472,0.7071067811865475,1.53496906195959e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993694,1.1912366725760439e-17,6.828379622216104e-17,1.123668785058699e-06],"object_linear_velocity_m_s":[-8.314562091051765e-17,1.410436301887268e-17,1.256991380383842e-14],"object_angular_velocity_rad_s":[-4.2529952220290016e-16,-2.9638474873252877e-15,8.163655198773194e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221251674,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167184,-1.570795108424298,-0.44910793619502354,0.0],"actuator_force":[-7.203198038041592e-10,-18.988043948631002,-20.286344740616187,-2.4133256393029114,0.000609184401469065,-9.947598300641403e-13,-0.2933611135221965],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.099999999999138,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.119999999999163,"qpos":[-2.019904262989918,-1.601477809228686,1.3356012191727085,-1.3049197367389407,-1.570796326794917,-0.44910793619502626,0.002933611172446547,0.0001563015653603692,0.003193479463823727,-0.003429298942073077,0.0029336110734251844,0.00015630110623036112,0.003197849388856751,-0.003437996890061995,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993682,1.587375972893267e-17,6.792880015746541e-17,1.1241327284600063e-06],"qvel":[-4.579764903365558e-12,9.916713309513912e-14,-1.315968369136055e-12,-9.731627750237045e-12,-2.1024837230207304e-11,-5.885846556198567e-15,-1.5412820985776014e-09,-8.418685206784916e-09,7.950468048983146e-09,8.552816309341123e-10,9.937468356950084e-10,5.548518876035363e-09,-5.5440482438954265e-09,-3.958099202063746e-10,-8.402521932210838e-17,1.954466818832802e-17,1.267122165483547e-14,-3.193620801013685e-16,-2.5042083950371084e-15,1.4904772813270158e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228686,1.3356012191727085,-1.3049197367389407,-1.570796326794917,-0.44910793619502626],"joint_velocity_rad_s":[-4.579764903365558e-12,9.916713309513912e-14,-1.315968369136055e-12,-9.731627750237045e-12,-2.1024837230207304e-11,-5.885846556198567e-15],"linkage_position_rad":[0.002933611172446547,0.0001563015653603692,0.003193479463823727,-0.003429298942073077,0.0029336110734251844,0.00015630110623036112,0.003197849388856751,-0.003437996890061995],"tcp_position_m":[0.08125537448652832,0.47723572262194497,0.4350000000000068],"tcp_quaternion_wxyz":[5.986585941699203e-15,0.7071067811865456,0.7071067811865491,1.3561203700343668e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993682,1.587375972893267e-17,6.792880015746541e-17,1.1241327284600063e-06],"object_linear_velocity_m_s":[-8.402521932210838e-17,1.954466818832802e-17,1.267122165483547e-14],"object_angular_velocity_rad_s":[-3.1935644795040267e-16,-2.5042091135146994e-15,1.4904772813270158e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.325458046802508,-1.3097463880167195,-1.5707951084242981,-0.44910793619502315,0.0],"actuator_force":[1.8271748558618128e-09,-18.98804394866829,-20.286344739874494,-2.413325637916273,0.0006091874118965279,2.1316282072803006e-12,-0.2933611095559102],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.119999999999163,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.139999999999187,"qpos":[-2.0199042629899164,-1.601477809228686,1.335601219172709,-1.3049197367389327,-1.5707963267948986,-0.44910793619502626,0.0029336111729453547,0.00015630156777258136,0.0031934794612285856,-0.003429298941877142,0.0029336110734100003,0.00015630110462599268,0.00319784939110408,-0.0034379968904338374,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999368,4.5274389523574684e-17,5.752865908488683e-17,1.1245963738683833e-06],"qvel":[1.9282354627302943e-12,4.8060241625107776e-14,8.281244173954635e-13,2.3671728156348185e-12,4.023855336404486e-12,1.3769167612955273e-14,9.681727009309382e-10,4.9720279325502945e-09,-4.807316135589396e-09,-4.3269996627993685e-10,-8.813134111181892e-10,-3.2107206274145026e-09,2.9739965989995544e-09,3.386110258526977e-10,-7.649511753189472e-17,6.225710588242117e-17,1.3140290882739598e-14,7.83819104814828e-16,-1.873400236458891e-15,2.721235123312721e-08],"joint_position_rad":[-2.0199042629899164,-1.601477809228686,1.335601219172709,-1.3049197367389327,-1.5707963267948986,-0.44910793619502626],"joint_velocity_rad_s":[1.9282354627302943e-12,4.8060241625107776e-14,8.281244173954635e-13,2.3671728156348185e-12,4.023855336404486e-12,1.3769167612955273e-14],"linkage_position_rad":[0.0029336111729453547,0.00015630156777258136,0.0031934794612285856,-0.003429298941877142,0.0029336110734100003,0.00015630110462599268,0.00319784939110408,-0.0034379968904338374],"tcp_position_m":[0.08125537448652252,0.4772357226219449,0.43500000000000605],"tcp_quaternion_wxyz":[-1.183570421164434e-15,0.7071067811865446,0.7071067811865495,6.6725481496884586e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999368,4.5274389523574684e-17,5.752865908488683e-17,1.1245963738683833e-06],"object_linear_velocity_m_s":[-7.649511753189472e-17,6.225710588242117e-17,1.3140290882739598e-14],"object_angular_velocity_rad_s":[7.838233215820541e-16,-1.8733984759579492e-15,2.7212351233127226e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221302047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.309746388016719,-1.5707951084242981,-0.44910793619502365,0.0],"actuator_force":[-7.794369594193995e-10,-18.988043948647373,-20.28634474073351,-2.41332563912988,0.0006091848978257985,-5.684341886080802e-14,-0.29336111275206417],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948963,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.139999999999187,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948963,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.15999999999921,"qpos":[-2.019904262989921,-1.601477809228686,1.3356012191727074,-1.3049197367389387,-1.5707963267949083,-0.44910793619502626,0.002933611170174556,0.00015630155424001146,0.0031934794746866758,-0.00342929894138829,0.002933611075961141,0.00015630111322356742,0.00319784938302002,-0.0034379968910417127,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993678,5.962085774168634e-17,4.525872903790788e-17,1.12498443226185e-06],"qvel":[2.3706852253242927e-12,2.0465394524272672e-14,8.874320273595649e-13,4.121685683918212e-12,8.276241805664352e-12,2.320250423463588e-14,5.864498703341663e-10,3.911077742514195e-09,-3.580441229223091e-09,-4.98374918886313e-10,-3.794337961722407e-10,-2.5307454394826624e-09,2.384795650533543e-09,2.3147712279835067e-10,-6.99891807742071e-17,1.0002354685462582e-16,1.3033431916619428e-14,2.1409742801029083e-15,-6.534709689039693e-16,4.96828813771489e-08],"joint_position_rad":[-2.019904262989921,-1.601477809228686,1.3356012191727074,-1.3049197367389387,-1.5707963267949083,-0.44910793619502626],"joint_velocity_rad_s":[2.3706852253242927e-12,2.0465394524272672e-14,8.874320273595649e-13,4.121685683918212e-12,8.276241805664352e-12,2.320250423463588e-14],"linkage_position_rad":[0.002933611170174556,0.00015630155424001146,0.0031934794746866758,-0.00342929894138829,0.002933611075961141,0.00015630111322356742,0.00319784938302002,-0.0034379968910417127],"tcp_position_m":[0.08125537448652767,0.47723572262194525,0.4350000000000074],"tcp_quaternion_wxyz":[2.0760224797446955e-15,0.7071067811865462,0.707106781186548,1.1984419550433008e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993678,5.962085774168634e-17,4.525872903790788e-17,1.12498443226185e-06],"object_linear_velocity_m_s":[-6.99891807742071e-17,1.0002354685462582e-16,1.3033431916619428e-14],"object_angular_velocity_rad_s":[2.1409757548840007e-15,-6.534661577011131e-16,4.9682881377148964e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221259868,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025075,-1.3097463880167193,-1.5707951084242975,-0.449107936195023,0.0],"actuator_force":[-9.463292371947318e-10,-18.988043948635095,-20.286344740754885,-2.4133256393024567,0.0006091844777529332,-7.105427357601002e-13,-0.2933611133418652],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.15999999999921,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.179999999999236,"qpos":[-2.01990426298992,-1.601477809228686,1.3356012191727078,-1.304919736738943,-1.5707963267949194,-0.44910793619502626,0.002933611171743498,0.00015630156192693125,0.0031934794672842156,-0.003429298941833404,0.0029336110740868756,0.00015630110843589814,0.00319784938672675,-0.003437996890270879,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993676,6.272290744137662e-17,3.328283281952653e-17,1.1253165119166454e-06],"qvel":[-1.5992162211729194e-12,7.296119097155592e-14,-7.46463984223276e-13,-1.7329861472962968e-12,-2.7752223879806135e-12,1.580441659977405e-14,-5.90209537060915e-10,-3.027306046269934e-09,2.971190159573144e-09,3.135232493938249e-10,5.487516977212527e-10,1.9751100723087524e-09,-1.874433584673548e-09,-2.1999544227261348e-10,-6.971453808957736e-17,1.5623833864565005e-16,1.2168845736192591e-14,5.7094233162264434e-15,7.014557722112472e-16,9.070839490454568e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.3356012191727078,-1.304919736738943,-1.5707963267949194,-0.44910793619502626],"joint_velocity_rad_s":[-1.5992162211729194e-12,7.296119097155592e-14,-7.46463984223276e-13,-1.7329861472962968e-12,-2.7752223879806135e-12,1.580441659977405e-14],"linkage_position_rad":[0.002933611171743498,0.00015630156192693125,0.0031934794672842156,-0.003429298941833404,0.0029336110740868756,0.00015630110843589814,0.00319784938672675,-0.003437996890270879],"tcp_position_m":[0.08125537448653017,0.477235722621945,0.4350000000000076],"tcp_quaternion_wxyz":[6.6435459605452106e-15,0.7071067811865461,0.7071067811865486,1.551233451743828e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993676,6.272290744137662e-17,3.328283281952653e-17,1.1253165119166454e-06],"object_linear_velocity_m_s":[-6.971453808957736e-17,1.5623833864565005e-16,1.2168845736192591e-14],"object_angular_velocity_rad_s":[5.709421743530545e-15,7.014686106471526e-16,9.070839490454583e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221288025,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025077,-1.309746388016719,-1.5707951084242981,-0.449107936195023,0.0],"actuator_force":[6.39829522697255e-10,-18.98804394865647,-20.286344740101413,-2.4133256387148094,0.0006091855881322772,2.842170943040401e-14,-0.2933611120842295],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.179999999999236,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.19999999999926,"qpos":[-2.019904262989915,-1.601477809228686,1.3356012191727096,-1.3049197367389318,-1.5707963267948952,-0.44910793619502626,0.002933611173903785,0.0001563015724122736,0.0031934794567558353,-0.003429298942316738,0.002933611072504394,0.00015630110161028452,0.003197849393864473,-0.0034379968900715655,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993665,6.390759859910915e-17,2.6115648205852416e-17,1.125660590465244e-06],"qvel":[1.5506479947068698e-12,6.06455647719376e-14,6.927675946688676e-13,1.6100353224468897e-12,2.4206952186131927e-12,1.4875193211125273e-14,1.06965108170193e-09,5.028405417292837e-09,-4.940384375615616e-09,-3.671025875848499e-10,-1.020991678543488e-09,-3.2453021533983407e-09,3.005629586921622e-09,3.4900771415645824e-10,-3.40152522499244e-17,7.616260355655506e-17,1.2798897302667364e-14,-2.2178497383717927e-15,-1.246841448336741e-15,9.82751176167371e-09],"joint_position_rad":[-2.019904262989915,-1.601477809228686,1.3356012191727096,-1.3049197367389318,-1.5707963267948952,-0.44910793619502626],"joint_velocity_rad_s":[1.5506479947068698e-12,6.06455647719376e-14,6.927675946688676e-13,1.6100353224468897e-12,2.4206952186131927e-12,1.4875193211125273e-14],"linkage_position_rad":[0.002933611173903785,0.0001563015724122736,0.0031934794567558353,-0.003429298942316738,0.002933611072504394,0.00015630110161028452,0.003197849393864473,-0.0034379968900715655],"tcp_position_m":[0.08125537448652091,0.47723572262194525,0.4350000000000054],"tcp_quaternion_wxyz":[-2.624884218552281e-15,0.7071067811865442,0.7071067811865502,5.2962697113572656e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993665,6.390759859910915e-17,2.6115648205852416e-17,1.125660590465244e-06],"object_linear_velocity_m_s":[-3.40152522499244e-17,7.616260355655506e-17,1.2798897302667364e-14],"object_angular_velocity_rad_s":[-2.2178469308123056e-15,-1.2468464426817782e-15,9.827511761673712e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221315894,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802508,-1.3097463880167193,-1.5707951084242984,-0.44910793619502304,0.0],"actuator_force":[-6.307345756795257e-10,-18.98804394865192,-20.286344740680306,-2.413325639054733,0.0006091850564189372,1.1368683772161603e-13,-0.29336111256370595],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.19999999999926,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.219999999999285,"qpos":[-2.0199042629899187,-1.601477809228686,1.335601219172708,-1.3049197367389354,-1.570796326794901,-0.44910793619502626,0.0029336111708993763,0.000156301558689776,0.0031934794705951483,-0.0034292989419871024,0.0029336110753879424,0.0001563011103303322,0.0031978493856695826,-0.0034379968907001695,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993663,7.016521365579027e-17,3.482019784598351e-17,1.1261567222483615e-06],"qvel":[2.3902009906545326e-12,3.741603893258211e-14,9.765257699514597e-13,3.4546922989184535e-12,6.388643043195711e-12,2.0318640318731825e-14,8.577709012838346e-10,4.953039614029331e-09,-4.669839250329011e-09,-5.281272797835899e-10,-7.078776688647251e-10,-3.187681989759412e-09,2.9510507780603746e-09,3.290397624669131e-10,-4.3877991386020286e-17,8.738506717152936e-17,1.3256864300325241e-14,-2.1714562845708765e-15,-8.398127936357588e-16,1.794255472100611e-08],"joint_position_rad":[-2.0199042629899187,-1.601477809228686,1.335601219172708,-1.3049197367389354,-1.570796326794901,-0.44910793619502626],"joint_velocity_rad_s":[2.3902009906545326e-12,3.741603893258211e-14,9.765257699514597e-13,3.4546922989184535e-12,6.388643043195711e-12,2.0318640318731825e-14],"linkage_position_rad":[0.0029336111708993763,0.000156301558689776,0.0031934794705951483,-0.0034292989419871024,0.0029336110753879424,0.0001563011103303322,0.0031978493856695826,-0.0034379968907001695],"tcp_position_m":[0.08125537448652449,0.47723572262194536,0.4350000000000066],"tcp_quaternion_wxyz":[-6.83331327386714e-16,0.7071067811865458,0.7071067811865489,8.754038005696468e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993663,7.016521365579027e-17,3.482019784598351e-17,1.1261567222483615e-06],"object_linear_velocity_m_s":[-4.3877991386020286e-17,8.738506717152936e-17,1.3256864300325241e-14],"object_angular_velocity_rad_s":[-2.171454391794195e-15,-8.398176869516981e-16,1.7942554721006125e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221272211,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.3097463880167188,-1.570795108424298,-0.44910793619502287,0.0],"actuator_force":[-9.586074156686664e-10,-18.98804394864237,-20.28634474079263,-2.4133256392372004,0.0006091846626077313,-3.410605131648481e-13,-0.2933611130638321],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.219999999999285,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.23999999999931,"qpos":[-2.01990426298992,-1.601477809228686,1.3356012191727076,-1.3049197367389411,-1.5707963267949145,-0.44910793619502626,0.0029336111716470885,0.00015630156189214736,0.003193479467488755,-0.003429298941896597,0.0029336110743073984,0.00015630110842899134,0.0031978493867786243,-0.003437996890304877,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993661,6.849642969624448e-17,4.9255461528870264e-17,1.1265910761703105e-06],"qvel":[2.072889736247812e-13,4.2475516967680184e-14,-1.0971529161981713e-13,1.601986024547439e-12,4.141274305909316e-12,2.03459919606194e-14,2.4907295682328663e-11,4.046325183786617e-10,-3.195032156472838e-10,8.364741321363313e-12,1.0135408546889638e-10,-2.654277118769448e-10,3.2138341976882857e-10,-5.368662986281138e-11,-7.318921309377471e-17,9.630324623953423e-17,1.3138903103958815e-14,-9.838752368418068e-16,3.268136368319141e-16,3.27585738611769e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.3356012191727076,-1.3049197367389411,-1.5707963267949145,-0.44910793619502626],"joint_velocity_rad_s":[2.072889736247812e-13,4.2475516967680184e-14,-1.0971529161981713e-13,1.601986024547439e-12,4.141274305909316e-12,2.03459919606194e-14],"linkage_position_rad":[0.0029336111716470885,0.00015630156189214736,0.003193479467488755,-0.003429298941896597,0.0029336110743073984,0.00015630110842899134,0.0031978493867786243,-0.003437996890304877],"tcp_position_m":[0.08125537448652888,0.47723572262194514,0.4350000000000075],"tcp_quaternion_wxyz":[4.694853105241321e-15,0.7071067811865462,0.7071067811865485,1.3831673210465282e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993661,6.849642969624448e-17,4.9255461528870264e-17,1.1265910761703105e-06],"object_linear_velocity_m_s":[-7.318921309377471e-17,9.630324623953423e-17,1.3138903103958815e-14],"object_angular_velocity_rad_s":[-9.838759699828818e-16,3.268114154932741e-16,3.2758573861176944e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286329,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.309746388016719,-1.570795108424298,-0.4491079361950234,0.0],"actuator_force":[-8.276401786133647e-11,-18.988043948644645,-20.28634474035607,-2.4133256390491624,0.0006091848941878197,-6.252776074688882e-13,-0.2933611129290312],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.23999999999931,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.259999999999334,"qpos":[-2.0199042629899195,-1.601477809228686,1.335601219172708,-1.3049197367389413,-1.5707963267949177,-0.44910793619502626,0.0029336111720694347,0.00015630156270328663,0.003193479466048243,-0.003429298941565189,0.0029336110737489107,0.00015630110793794945,0.003197849387549655,-0.003437996890440872,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993658,4.610790532472618e-17,5.3353185880216945e-17,1.1269969922673067e-06],"qvel":[-4.861533733688134e-12,1.0332605847954341e-13,-1.4075808690388452e-12,-1.0411567364089992e-11,-2.249814047415926e-11,-8.274431896697703e-15,-1.7306147016165412e-09,-9.349476993382275e-09,8.857267720538127e-09,8.315348303162434e-10,1.1365366111180286e-09,6.1218996122298476e-09,-6.092398916010864e-09,-3.8699569817279135e-10,-9.012963094592362e-17,6.017999251634553e-17,1.247970818308763e-14,-2.4815602503625258e-15,1.0585134914638094e-15,5.980888330031001e-08],"joint_position_rad":[-2.0199042629899195,-1.601477809228686,1.335601219172708,-1.3049197367389413,-1.5707963267949177,-0.44910793619502626],"joint_velocity_rad_s":[-4.861533733688134e-12,1.0332605847954341e-13,-1.4075808690388452e-12,-1.0411567364089992e-11,-2.249814047415926e-11,-8.274431896697703e-15],"linkage_position_rad":[0.0029336111720694347,0.00015630156270328663,0.003193479466048243,-0.003429298941565189,0.0029336110737489107,0.00015630110793794945,0.003197849387549655,-0.003437996890440872],"tcp_position_m":[0.08125537448652918,0.47723572262194486,0.43500000000000716],"tcp_quaternion_wxyz":[6.088318846466789e-15,0.7071067811865457,0.7071067811865486,1.4166482022244713e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993658,4.610790532472618e-17,5.3353185880216945e-17,1.1269969922673067e-06],"object_linear_velocity_m_s":[-9.012963094592362e-17,6.017999251634553e-17,1.247970818308763e-14],"object_angular_velocity_rad_s":[-2.4815626298572737e-15,1.0585078925239284e-15,5.980888330031012e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290946,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802508,-1.3097463880167197,-1.5707951084242981,-0.4491079361950233,0.0],"actuator_force":[1.9435901776887476e-09,-18.9880439486692,-20.286344739837205,-2.413325637848061,0.0006091875595757301,2.2737367544323206e-12,-0.29336110932052684],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.259999999999334,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.279999999999358,"qpos":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.304919736738932,-1.5707963267948968,-0.44910793619502626,0.0029336111718091824,0.00015630156362476778,0.003193479465939358,-0.003429298942558587,0.002933611074577391,0.00015630110713997153,0.0031978493885634488,-0.0034379968903091693,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993646,2.2599086124727675e-17,4.509758627826662e-17,1.1272752196654113e-06],"qvel":[2.110105967679302e-12,5.298724546746658e-14,9.110215819311196e-13,2.5906174108418117e-12,4.3878257604578166e-12,1.6384213957569328e-14,1.0380320672544357e-09,5.399888076114244e-09,-5.1898261163680345e-09,-4.939195385380297e-10,-9.414137099430202e-10,-3.468468041179587e-09,3.1913191269319323e-09,3.7818007894330176e-10,-1.539132104355902e-16,-1.4773926302827296e-17,1.2771141727051733e-14,-5.793881460727943e-15,6.288608693045864e-15,1.0919591728228298e-07],"joint_position_rad":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.304919736738932,-1.5707963267948968,-0.44910793619502626],"joint_velocity_rad_s":[2.110105967679302e-12,5.298724546746658e-14,9.110215819311196e-13,2.5906174108418117e-12,4.3878257604578166e-12,1.6384213957569328e-14],"linkage_position_rad":[0.0029336111718091824,0.00015630156362476778,0.003193479465939358,-0.003429298942558587,0.002933611074577391,0.00015630110713997153,0.0031978493885634488,-0.0034379968903091693],"tcp_position_m":[0.08125537448652181,0.4772357226219453,0.43500000000000594],"tcp_quaternion_wxyz":[-2.1091420291062658e-15,0.7071067811865448,0.7071067811865499,6.19106575159669e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993646,2.2599086124727675e-17,4.509758627826662e-17,1.1272752196654113e-06],"object_linear_velocity_m_s":[-1.539132104355902e-16,-1.4773926302827296e-17,1.2771141727051733e-14],"object_angular_velocity_rad_s":[-5.7938956288497585e-15,6.288595625496444e-15,1.0919591728228298e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286808,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.4491079361950231,0.0],"actuator_force":[-8.531060302630067e-10,-18.988043948649192,-20.286344740767163,-2.413325639152731,0.0006091848604228289,-8.526512829121202e-14,-0.29336111280242044],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389316,-1.5707963267948968,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.279999999999358,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389316,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.299999999999383,"qpos":[-2.0199042629899187,-1.601477809228686,1.335601219172708,-1.3049197367389378,-1.5707963267949094,-0.44910793619502626,0.0029336111719597473,0.00015630156396186662,0.0031934794655831874,-0.0034292989421191348,0.002933611074146687,0.00015630110708226235,0.0031978493880758367,-0.0034379968902097267,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993646,-2.5595792514711778e-18,5.2878294854872977e-17,1.1276894257901145e-06],"qvel":[1.1418193691742388e-12,3.164062463474087e-14,3.267424294268322e-13,2.631406675766146e-12,5.8030044323139475e-12,2.1051429743824856e-14,4.341308949698027e-10,2.497061093429843e-09,-2.394614013258574e-09,-1.4685642095849036e-10,-2.823822076174992e-10,-1.617474997319386e-09,1.5983393602048148e-09,7.598452743293165e-11,-6.380497483930626e-17,1.3938360052355425e-18,1.2923797392937692e-14,-6.988430339986495e-16,-1.613189738973701e-15,1.1830483413885351e-08],"joint_position_rad":[-2.0199042629899187,-1.601477809228686,1.335601219172708,-1.3049197367389378,-1.5707963267949094,-0.44910793619502626],"joint_velocity_rad_s":[1.1418193691742388e-12,3.164062463474087e-14,3.267424294268322e-13,2.631406675766146e-12,5.8030044323139475e-12,2.1051429743824856e-14],"linkage_position_rad":[0.0029336111719597473,0.00015630156396186662,0.0031934794655831874,-0.0034292989421191348,0.002933611074146687,0.00015630110708226235,0.0031978493880758367,-0.0034379968902097267],"tcp_position_m":[0.08125537448652663,0.47723572262194497,0.4350000000000068],"tcp_quaternion_wxyz":[2.807243962046467e-15,0.7071067811865458,0.7071067811865489,1.1218474045211938e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993646,-2.5595792514711778e-18,5.2878294854872977e-17,1.1276894257901145e-06],"object_linear_velocity_m_s":[-6.380497483930626e-17,1.3938360052355425e-18,1.2923797392937692e-14],"object_angular_velocity_rad_s":[-6.988393943917004e-16,-1.6131913150648353e-15,1.183048341388536e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135132212916,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025077,-1.3097463880167188,-1.5707951084242981,-0.44910793619502326,0.0],"actuator_force":[-4.5929482439532876e-10,-18.988043948640552,-20.28634474053115,-2.4133256391536406,0.0006091847253628657,-6.252776074688882e-13,-0.29336111306406515],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.299999999999383,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.319999999999407,"qpos":[-2.0199042629899213,-1.601477809228686,1.3356012191727074,-1.3049197367389427,-1.570796326794921,-0.44910793619502626,0.0029336111712483,0.0001563015588207351,0.0031934794699742253,-0.0034292989413858316,0.002933611074527231,0.00015630111046600878,0.0031978493850994463,-0.003437996890620597,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993644,-1.2382635825016597e-17,5.4862940283326814e-17,1.1281593725356629e-06],"qvel":[-1.6625721528448376e-12,7.28420078063652e-14,-7.863600688873741e-13,-1.8098062129396285e-12,-2.8817709928579925e-12,1.3882955583628936e-14,-7.042029783856921e-10,-3.4810685692482528e-09,3.462925482357981e-09,2.452992194592586e-10,6.62307875017146e-10,2.2516968447908696e-09,-2.143144377998103e-09,-2.0000572955969284e-10,-6.963261854195647e-17,-1.4926665224584074e-17,1.2519953767730291e-14,-1.9497675373115846e-16,-1.3476599408412254e-15,2.159947514461183e-08],"joint_position_rad":[-2.0199042629899213,-1.601477809228686,1.3356012191727074,-1.3049197367389427,-1.570796326794921,-0.44910793619502626],"joint_velocity_rad_s":[-1.6625721528448376e-12,7.28420078063652e-14,-7.863600688873741e-13,-1.8098062129396285e-12,-2.8817709928579925e-12,1.3882955583628936e-14],"linkage_position_rad":[0.0029336111712483,0.0001563015588207351,0.0031934794699742253,-0.0034292989413858316,0.002933611074527231,0.00015630111046600878,0.0031978493850994463,-0.003437996890620597],"tcp_position_m":[0.08125537448653102,0.4772357226219447,0.4350000000000078],"tcp_quaternion_wxyz":[7.406416760810286e-15,0.7071067811865461,0.7071067811865481,1.5831116107853292e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993644,-1.2382635825016597e-17,5.4862940283326814e-17,1.1281593725356629e-06],"object_linear_velocity_m_s":[-6.963261854195647e-17,-1.4926665224584074e-17,1.2519953767730291e-14],"object_angular_velocity_rad_s":[-1.9497371061025512e-16,-1.3476603802325819e-15,2.1599475144611863e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279246,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[6.675691111013293e-10,-18.98804394865647,-20.286344740085497,-2.4133256387071924,0.0006091855996146478,2.842170943040401e-14,-0.29336111207930105],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.44910793619502265],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.319999999999407,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.44910793619502265],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.33999999999943,"qpos":[-2.0199042629899147,-1.601477809228686,1.3356012191727098,-1.30491973673893,-1.570796326794895,-0.44910793619502615,0.0029336111728380443,0.0001563015686981893,0.0031934794610661136,-0.0034292989430402725,0.0029336110736049156,0.00015630110390543807,0.0031978493914830027,-0.0034379968898973893,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993632,-1.915301015991375e-17,6.135342957619128e-17,1.1285629319533762e-06],"qvel":[1.7013422288934571e-12,6.581704232487195e-14,7.607856063083286e-13,1.7600114115627255e-12,2.6571318415146596e-12,1.6248719683289566e-14,1.1495221627820384e-09,5.460352720523057e-09,-5.336590732450411e-09,-4.190152640630845e-10,-1.0952845493828142e-09,-3.510332182938644e-09,3.23164175053108e-09,3.889050274551131e-10,-9.065930363635416e-17,-3.130639788344958e-17,1.2435299262102626e-14,-4.811136400166223e-16,6.011673061365704e-16,3.943518706728377e-08],"joint_position_rad":[-2.0199042629899147,-1.601477809228686,1.3356012191727098,-1.30491973673893,-1.570796326794895,-0.44910793619502615],"joint_velocity_rad_s":[1.7013422288934571e-12,6.581704232487195e-14,7.607856063083286e-13,1.7600114115627255e-12,2.6571318415146596e-12,1.6248719683289566e-14],"linkage_position_rad":[0.0029336111728380443,0.0001563015686981893,0.0031934794610661136,-0.0034292989430402725,0.0029336110736049156,0.00015630110390543807,0.0031978493914830027,-0.0034379968898973893],"tcp_position_m":[0.08125537448652047,0.4772357226219449,0.43500000000000516],"tcp_quaternion_wxyz":[-2.2820069795044103e-15,0.7071067811865445,0.7071067811865502,4.377493831684861e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993632,-1.915301015991375e-17,6.135342957619128e-17,1.1285629319533762e-06],"object_linear_velocity_m_s":[-9.065930363635416e-17,-3.130639788344958e-17,1.2435299262102626e-14],"object_angular_velocity_rad_s":[-4.811149920867057e-16,6.011662217116093e-16,3.943518706728377e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221302537,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.325458046802508,-1.3097463880167195,-1.570795108424298,-0.44910793619502265,0.0],"actuator_force":[-6.921254680491984e-10,-18.98804394865374,-20.286344740708046,-2.413325639070763,0.0006091850328857618,1.1368683772161603e-13,-0.2933611125933361],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948963,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.33999999999943,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948963,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.359999999999456,"qpos":[-2.019904262989918,-1.601477809228686,1.3356012191727085,-1.304919736738935,-1.570796326794905,-0.44910793619502615,0.0029336111725500064,0.0001563015672545683,0.003193479462427965,-0.003429298942388725,0.002933611073682258,0.0001563011049774019,0.003197849390077646,-0.0034379968900174005,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999363,-1.5329884776835965e-17,5.682836582609482e-17,1.128926593908412e-06],"qvel":[1.492877347344719e-12,3.300275196638889e-14,5.418354006699213e-13,2.590763362841792e-12,5.2578393283061405e-12,1.6908610929594282e-14,7.089164376520864e-10,3.680715163916229e-09,-3.6140602256565087e-09,-2.0626831858520503e-10,-5.828705334925994e-10,-2.3813877782776638e-09,2.303958120039501e-09,1.6314419099213203e-10,-1.0487991902186373e-16,-1.3272124592242641e-17,1.3019554128811617e-14,1.0030593471815338e-15,1.1312942087862315e-15,7.199869295984674e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228686,1.3356012191727085,-1.304919736738935,-1.570796326794905,-0.44910793619502615],"joint_velocity_rad_s":[1.492877347344719e-12,3.300275196638889e-14,5.418354006699213e-13,2.590763362841792e-12,5.2578393283061405e-12,1.6908610929594282e-14],"linkage_position_rad":[0.0029336111725500064,0.0001563015672545683,0.003193479462427965,-0.003429298942388725,0.002933611073682258,0.0001563011049774019,0.003197849390077646,-0.0034379968900174005],"tcp_position_m":[0.08125537448652494,0.4772357226219449,0.43500000000000616],"tcp_quaternion_wxyz":[1.233191275988469e-15,0.7071067811865456,0.7071067811865491,8.886313657567125e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999363,-1.5329884776835965e-17,5.682836582609482e-17,1.128926593908412e-06],"object_linear_velocity_m_s":[-1.0487991902186373e-16,-1.3272124592242641e-17,1.3019554128811617e-14],"object_angular_velocity_rad_s":[1.0030568010658755e-15,1.1312964757515656e-15,7.199869295984677e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221301015,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.309746388016719,-1.5707951084242977,-0.44910793619502365,0.0],"actuator_force":[-6.01630745222792e-10,-18.988043948641007,-20.286344740618915,-2.4133256391511395,0.0006091847778861847,-4.263256414560601e-13,-0.29336111294184275],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.359999999999456,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.37999999999948,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727074,-1.304919736738941,-1.5707963267949174,-0.44910793619502615,0.0029336111710837375,0.00015630155864137615,0.003193479470376639,-0.0034292989415294363,0.0029336110748290588,0.00015630111057530184,0.003197849385017919,-0.0034379968906167392,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999363,-7.661982090174897e-18,4.5175357538875786e-17,1.129199702100887e-06],"qvel":[2.796676387424211e-13,4.145701664808899e-14,-9.819078323324021e-14,1.7790788475474265e-12,4.556501504817844e-12,2.0175135710555922e-14,-4.075200726530385e-11,2.5927302298142873e-10,-1.0560898349257186e-10,-8.330764100989353e-11,1.807861773209216e-10,-1.834492646298923e-10,2.2430124199200028e-10,-2.131446374322863e-11,-5.557203518054587e-17,-1.1103755337177948e-17,1.2800285081448147e-14,5.518883780655987e-16,-1.95140345826255e-15,7.80046877284819e-09],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727074,-1.304919736738941,-1.5707963267949174,-0.44910793619502615],"joint_velocity_rad_s":[2.796676387424211e-13,4.145701664808899e-14,-9.819078323324021e-14,1.7790788475474265e-12,4.556501504817844e-12,2.0175135710555922e-14],"linkage_position_rad":[0.0029336111710837375,0.00015630155864137615,0.003193479470376639,-0.0034292989415294363,0.0029336110748290588,0.00015630111057530184,0.003197849385017919,-0.0034379968906167392],"tcp_position_m":[0.08125537448653031,0.47723572262194475,0.4350000000000076],"tcp_quaternion_wxyz":[5.92794118614645e-15,0.7071067811865465,0.7071067811865478,1.4274135910255266e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999363,-7.661982090174897e-18,4.5175357538875786e-17,1.129199702100887e-06],"object_linear_velocity_m_s":[-5.557203518054587e-17,-1.1103755337177948e-17,1.2800285081448147e-14],"object_angular_velocity_rad_s":[5.518927858173771e-16,-1.9514022117536564e-15,7.800468772848198e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221277199,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802507,-1.3097463880167186,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[-1.0913936421275139e-10,-18.98804394864419,-20.28634474036153,-2.413325639066784,0.0006091848539426792,-6.536993168992922e-13,-0.2933611129958107],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948968,-0.44910793619502276],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.37999999999948,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948968,-0.44910793619502276],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.399999999999505,"qpos":[-2.01990426298992,-1.601477809228686,1.3356012191727085,-1.3049197367389413,-1.5707963267949199,-0.44910793619502615,0.0029336111708262134,0.00015630155810369146,0.003193479471227014,-0.003429298942229583,0.002933611074967037,0.0001563011107985182,0.0031978493845997804,-0.0034379968902815087,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993627,-4.696593789027489e-18,1.6317096842028007e-17,1.1296983286919383e-06],"qvel":[-5.284676687076912e-12,1.0692639447663282e-13,-1.5438367693301686e-12,-1.1340251878354602e-11,-2.4480859515022205e-11,-8.027173622374149e-15,-1.9026223322487356e-09,-1.0225811525127326e-08,9.715459249379224e-09,8.911243918995694e-10,1.2495348027989883e-09,6.663880217592599e-09,-6.646312155902928e-09,-4.103293328647651e-10,-2.396477502488666e-17,-5.279745708923293e-18,1.2395053677459966e-14,2.517059741900034e-16,-1.806358594718482e-15,1.4241686115521457e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.3356012191727085,-1.3049197367389413,-1.5707963267949199,-0.44910793619502615],"joint_velocity_rad_s":[-5.284676687076912e-12,1.0692639447663282e-13,-1.5438367693301686e-12,-1.1340251878354602e-11,-2.4480859515022205e-11,-8.027173622374149e-15],"linkage_position_rad":[0.0029336111708262134,0.00015630155810369146,0.003193479471227014,-0.003429298942229583,0.002933611074967037,0.0001563011107985182,0.0031978493845997804,-0.0034379968902815087],"tcp_position_m":[0.08125537448652997,0.4772357226219445,0.43500000000000705],"tcp_quaternion_wxyz":[7.308223787329315e-15,0.7071067811865461,0.7071067811865486,1.4268273826377805e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993627,-4.696593789027489e-18,1.6317096842028007e-17,1.1296983286919383e-06],"object_linear_velocity_m_s":[-2.396477502488666e-17,-5.279745708923293e-18,1.2395053677459966e-14],"object_angular_velocity_rad_s":[2.5171005593469806e-16,-1.8063580258764623e-15,1.4241686115521482e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322127506,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025081,-1.3097463880167195,-1.5707951084242984,-0.44910793619502276,0.0],"actuator_force":[2.1127561922185123e-09,-18.98804394867102,-20.28634473978309,-2.413325637755065,0.0006091877588687566,2.4726887204451486e-12,-0.29336110902422485],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948968,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.399999999999505,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.41999999999953,"qpos":[-2.019904262989917,-1.601477809228686,1.3356012191727096,-1.3049197367389327,-1.5707963267949014,-0.44910793619502615,0.0029336111733272957,0.00015630157112919143,0.003193479458648795,-0.00342929894266629,0.002933611072995328,0.00015630110244940008,0.0031978493924765157,-0.0034379968897889513,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993614,3.901070671371494e-18,-2.0628065677030106e-17,1.130141347344937e-06],"qvel":[1.4829629186680375e-12,3.913204497730749e-14,5.940204892909295e-13,2.114535517805579e-12,3.9659132738895745e-12,1.7173590623507816e-14,8.903520220945738e-10,4.263881969621915e-09,-4.257696951066009e-09,-2.0377183504208027e-10,-8.020667790685873e-10,-2.7548705492457107e-09,2.6452780592895956e-09,2.1133370672901585e-10,2.737135822118383e-17,5.957928325620952e-18,1.2471381510402945e-14,3.6899451566193337e-16,-1.5846366695976851e-15,2.6001722373282302e-08],"joint_position_rad":[-2.019904262989917,-1.601477809228686,1.3356012191727096,-1.3049197367389327,-1.5707963267949014,-0.44910793619502615],"joint_velocity_rad_s":[1.4829629186680375e-12,3.913204497730749e-14,5.940204892909295e-13,2.114535517805579e-12,3.9659132738895745e-12,1.7173590623507816e-14],"linkage_position_rad":[0.0029336111733272957,0.00015630157112919143,0.003193479458648795,-0.00342929894266629,0.002933611072995328,0.00015630110244940008,0.0031978493924765157,-0.0034379968897889513],"tcp_position_m":[0.08125537448652331,0.4772357226219447,0.4350000000000056],"tcp_quaternion_wxyz":[2.369518539811394e-16,0.7071067811865452,0.7071067811865495,6.706925739773705e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993614,3.901070671371494e-18,-2.0628065677030106e-17,1.130141347344937e-06],"object_linear_velocity_m_s":[2.737135822118383e-17,5.957928325620952e-18,1.2471381510402945e-14],"object_angular_velocity_rad_s":[3.6899809631510225e-16,-1.5846358357645894e-15,2.6001722373282302e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322131213,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025081,-1.3097463880167197,-1.5707951084242984,-0.4491079361950231,0.0],"actuator_force":[-6.002665031701326e-10,-18.988043948643735,-20.286344740640743,-2.4133256391049827,0.0006091849049880693,-1.9895196601282805e-13,-0.29336111275755744],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.41999999999953,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.439999999999554,"qpos":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.3049197367389378,-1.5707963267949112,-0.44910793619502615,0.0029336111713594297,0.0001563015607299648,0.003193479468549175,-0.0034292989418471804,0.0029336110747201,0.00015630110919422765,0.003197849386321503,-0.00343799689048546,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993612,4.062718955037163e-18,-5.76754360918682e-17,1.1305664575634673e-06],"qvel":[1.2814157160444931e-12,2.867656465760504e-14,3.764682604322644e-13,2.8846890111602236e-12,6.33953342597373e-12,1.9556126197903376e-14,4.0177870822373947e-10,2.5457906815131324e-09,-2.36047501878768e-09,-2.490942540825891e-10,-2.3369525638371335e-10,-1.6566500256961265e-09,1.6053629052425744e-09,1.1851594050517042e-10,1.0078806038025208e-16,7.387631884948184e-18,1.3055636377111933e-14,-2.5980521804846964e-16,-3.822124023477764e-15,4.747257880091378e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.3049197367389378,-1.5707963267949112,-0.44910793619502615],"joint_velocity_rad_s":[1.2814157160444931e-12,2.867656465760504e-14,3.764682604322644e-13,2.8846890111602236e-12,6.33953342597373e-12,1.9556126197903376e-14],"linkage_position_rad":[0.0029336111713594297,0.0001563015607299648,0.003193479468549175,-0.0034292989418471804,0.0029336110747201,0.00015630110919422765,0.003197849386321503,-0.00343799689048546],"tcp_position_m":[0.08125537448652763,0.47723572262194475,0.4350000000000069],"tcp_quaternion_wxyz":[3.619818542534555e-15,0.7071067811865461,0.7071067811865483,1.1540972472444103e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993612,4.062718955037163e-18,-5.76754360918682e-17,1.1305664575634673e-06],"object_linear_velocity_m_s":[1.0078806038025208e-16,7.387631884948184e-18,1.3055636377111933e-14],"object_angular_velocity_rad_s":[-2.5979658119337337e-16,-3.822124611307867e-15,4.74725788009138e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221282005,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.325458046802508,-1.3097463880167193,-1.570795108424298,-0.4491079361950236,0.0],"actuator_force":[-5.13409759150818e-10,-18.988043948639643,-20.286344740550703,-2.4133256391791065,0.0006091846727258599,-6.821210263296962e-13,-0.2933611131443937],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.439999999999554,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.459999999999578,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727078,-1.304919736738943,-1.5707963267949228,-0.44910793619502615,0.002933611169916024,0.00015630155382035925,0.003193479475583382,-0.0034292989420527447,0.0029336110758304236,0.0001563011135477434,0.003197849381923765,-0.0034379968904744624,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993611,1.0169474977913637e-17,-7.216778097408886e-17,1.1308837635880676e-06],"qvel":[-1.8007196695307713e-12,7.322539254578421e-14,-8.578446246760184e-13,-1.9681051469350404e-12,-3.1198972101975226e-12,1.3546960212456129e-14,-7.804103903757491e-10,-3.822857888283474e-09,3.827942115353727e-09,2.5183569272432184e-10,7.349423400372328e-10,2.457108410261047e-09,-2.35130490530577e-09,-2.1063542457238926e-10,1.902640717261177e-16,6.369774827123157e-17,1.3402581072307294e-14,4.6835040611996166e-15,-8.240765641293401e-15,8.667294057125652e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727078,-1.304919736738943,-1.5707963267949228,-0.44910793619502615],"joint_velocity_rad_s":[-1.8007196695307713e-12,7.322539254578421e-14,-8.578446246760184e-13,-1.9681051469350404e-12,-3.1198972101975226e-12,1.3546960212456129e-14],"linkage_position_rad":[0.002933611169916024,0.00015630155382035925,0.003193479475583382,-0.0034292989420527447,0.0029336110758304236,0.0001563011135477434,0.003197849381923765,-0.0034379968904744624],"tcp_position_m":[0.08125537448653176,0.4772357226219446,0.4350000000000074],"tcp_quaternion_wxyz":[8.249416289670444e-15,0.7071067811865469,0.7071067811865478,1.6013560973711616e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993611,1.0169474977913637e-17,-7.216778097408886e-17,1.1308837635880676e-06],"object_linear_velocity_m_s":[1.902640717261177e-16,6.369774827123157e-17,1.3402581072307294e-14],"object_angular_velocity_rad_s":[4.683522687373783e-15,-8.240755050037783e-15,8.667294057125661e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.093135132212618,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025077,-1.309746388016719,-1.5707951084242981,-0.4491079361950233,0.0],"actuator_force":[7.23048287909478e-10,-18.988043948656923,-20.286344740056848,-2.4133256386912763,0.0006091856242846916,2.842170943040401e-14,-0.2933611120599821],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.459999999999578,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.479999999999603,"qpos":[-2.0199042629899155,-1.601477809228686,1.33560121917271,-1.3049197367389307,-1.5707963267948977,-0.44910793619502615,0.0029336111742220205,0.00015630157523363275,0.003193479454548687,-0.0034292989429042043,0.0029336110721555125,0.0001563010998027871,0.0031978493949781917,-0.00343799688953263,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993611,2.1340224901578578e-17,-7.888472363286305e-17,1.1312125346971363e-06],"qvel":[1.2773800637648662e-12,4.7709541685770947e-14,5.382127209914078e-13,1.5240999600818614e-12,2.593041866395249e-12,1.36331928226224e-14,1.0037867366499845e-09,4.454617021988155e-09,-4.514481697284848e-09,-1.6138000766444632e-10,-9.50601551760496e-10,-2.879354947539959e-09,2.7633902397864064e-09,2.2761483042144554e-10,9.271948009718287e-17,2.4073089945520934e-17,1.3623237898451547e-14,-4.14430108230693e-16,2.866580216859977e-15,9.390303331663863e-09],"joint_position_rad":[-2.0199042629899155,-1.601477809228686,1.33560121917271,-1.3049197367389307,-1.5707963267948977,-0.44910793619502615],"joint_velocity_rad_s":[1.2773800637648662e-12,4.7709541685770947e-14,5.382127209914078e-13,1.5240999600818614e-12,2.593041866395249e-12,1.36331928226224e-14],"linkage_position_rad":[0.0029336111742220205,0.00015630157523363275,0.003193479454548687,-0.0034292989429042043,0.0029336110721555125,0.0001563010998027871,0.0031978493949781917,-0.00343799688953263],"tcp_position_m":[0.08125537448652147,0.4772357226219445,0.43500000000000494],"tcp_quaternion_wxyz":[-1.1156362679167562e-15,0.7071067811865446,0.7071067811865499,5.132293012950779e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993611,2.1340224901578578e-17,-7.888472363286305e-17,1.1312125346971363e-06],"object_linear_velocity_m_s":[9.271948009718287e-17,2.4073089945520934e-17,1.3623237898451547e-14],"object_angular_velocity_rad_s":[-4.1443659513408166e-16,2.8665792788347955e-15,9.390303331663879e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221324732,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167188,-1.5707951084242981,-0.4491079361950235,0.0],"actuator_force":[-5.206857167650014e-10,-18.98804394864692,-20.28634474062028,-2.4133256390465476,0.000609185040389093,-2.842170943040401e-14,-0.2933611125848026],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727091,-1.304919736738931,-1.5707963267948963,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.479999999999603,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727091,-1.304919736738931,-1.5707963267948963,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.499999999999627,"qpos":[-2.019904262989918,-1.601477809228686,1.3356012191727087,-1.3049197367389342,-1.5707963267949048,-0.44910793619502615,0.002933611171934004,0.000156301564143817,0.003193479465365936,-0.0034292989422238522,0.0029336110742859186,0.0001563011069846639,0.003197849388383915,-0.003437996890253316,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993597,3.1889176682605286e-17,-7.991628022728925e-17,1.1316865944641372e-06],"qvel":[1.6549896089711627e-12,3.620141801771598e-14,6.016288832072652e-13,2.8456353381076313e-12,5.740304184606026e-12,1.831725904041587e-14,7.004855057579395e-10,3.848727203059361e-09,-3.6983378485974425e-09,-3.1124415516837644e-10,-5.603911018747756e-10,-2.492722497787788e-09,2.3703610609461427e-09,2.1281963951754778e-10,1.0005907468614622e-16,3.830063283327443e-17,1.3161107564451321e-14,-6.313661853548383e-16,2.818231497024053e-15,1.7144322536682006e-08],"joint_position_rad":[-2.019904262989918,-1.601477809228686,1.3356012191727087,-1.3049197367389342,-1.5707963267949048,-0.44910793619502615],"joint_velocity_rad_s":[1.6549896089711627e-12,3.620141801771598e-14,6.016288832072652e-13,2.8456353381076313e-12,5.740304184606026e-12,1.831725904041587e-14],"linkage_position_rad":[0.002933611171934004,0.000156301564143817,0.003193479465365936,-0.0034292989422238522,0.0029336110742859186,0.0001563011069846639,0.003197849388383915,-0.003437996890253316],"tcp_position_m":[0.08125537448652483,0.4772357226219448,0.43500000000000627],"tcp_quaternion_wxyz":[1.3428777935901863e-15,0.7071067811865451,0.7071067811865491,8.584428644847103e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993597,3.1889176682605286e-17,-7.991628022728925e-17,1.1316865944641372e-06],"object_linear_velocity_m_s":[1.0005907468614622e-16,3.830063283327443e-17,1.3161107564451321e-14],"object_angular_velocity_rad_s":[-6.313725668030514e-16,2.818230066906099e-15,1.714432253668201e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221291395,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029992,1.3254580468025063,-1.3097463880167182,-1.5707951084242977,-0.4491079361950234,0.0],"actuator_force":[-6.666596163995564e-10,-18.988043948641007,-20.28634474064529,-2.4133256391764917,0.0006091847295692787,-4.547473508864641e-13,-0.29336111301146817],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.499999999999627,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.51999999999965,"qpos":[-2.0199042629899213,-1.601477809228686,1.335601219172708,-1.3049197367389407,-1.5707963267949179,-0.44910793619502615,0.002933611169724041,0.00015630155358869395,0.003193479476077106,-0.0034292989422297546,0.0029336110761746846,0.00015630111367488281,0.0031978493818113993,-0.003437996890470404,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993595,2.1770994866415986e-17,-7.341716255439621e-17,1.132157482780543e-06],"qvel":[3.121908296866766e-13,3.949145564464488e-14,-1.0038508169997423e-13,1.9430905295753705e-12,4.977776768380746e-12,2.3396339485636212e-14,-5.527064641750615e-11,2.6245698670421396e-10,-7.27668926887249e-11,-1.0529093770259547e-10,2.1019097880362952e-10,-1.8836969120717258e-10,2.2162250175293233e-10,-1.7615752766155686e-11,9.94454935714757e-17,2.5382434495306787e-17,1.3281844318379306e-14,-1.088167691155087e-15,1.518534094789901e-15,3.1301203471333474e-08],"joint_position_rad":[-2.0199042629899213,-1.601477809228686,1.335601219172708,-1.3049197367389407,-1.5707963267949179,-0.44910793619502615],"joint_velocity_rad_s":[3.121908296866766e-13,3.949145564464488e-14,-1.0038508169997423e-13,1.9430905295753705e-12,4.977776768380746e-12,2.3396339485636212e-14],"linkage_position_rad":[0.002933611169724041,0.00015630155358869395,0.003193479476077106,-0.0034292989422297546,0.0029336110761746846,0.00015630111367488281,0.0031978493818113993,-0.003437996890470404],"tcp_position_m":[0.08125537448653006,0.4772357226219445,0.4350000000000071],"tcp_quaternion_wxyz":[6.409422589472657e-15,0.7071067811865466,0.7071067811865479,1.3951522668588794e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993595,2.1770994866415986e-17,-7.341716255439621e-17,1.132157482780543e-06],"object_linear_velocity_m_s":[9.94454935714757e-17,2.5382434495306787e-17,1.3281844318379306e-14],"object_angular_velocity_rad_s":[-1.0881711341878644e-15,1.5185316294686994e-15,3.13012034713335e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221259381,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.325458046802508,-1.309746388016719,-1.5707951084242977,-0.44910793619502287,0.0],"actuator_force":[-1.2323653209023178e-10,-18.98804394864419,-20.286344740360164,-2.413325639083496,0.0006091848123332966,-7.105427357601002e-13,-0.29336111306953794],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.51999999999965,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.539999999999676,"qpos":[-2.0199042629899213,-1.601477809228686,1.3356012191727085,-1.3049197367389425,-1.5707963267949239,-0.44910793619502615,0.0029336111720543565,0.00015630156304111508,0.0031934794660760267,-0.003429298941814726,0.002933611073647227,0.0001563011077709344,0.0031978493872181976,-0.0034379968901069187,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993593,5.176325201049174e-18,-5.527826839836379e-17,1.1325453403960242e-06],"qvel":[-5.87596907549409e-12,9.408016308745921e-14,-1.7860607852579873e-12,-1.2048143246383349e-11,-2.5658865917369106e-11,-1.1219961543585907e-14,-2.0676912319502493e-09,-1.1874730260466687e-08,1.1136962085069741e-08,1.1714199379797292e-09,1.389010841698823e-09,7.767722611081275e-09,-7.537538375638386e-09,-6.02443426456095e-10,8.463632193131862e-17,-1.3881188774807746e-18,1.3484460020373398e-14,-1.956262974489693e-15,1.1838006962613737e-15,5.714809300032255e-08],"joint_position_rad":[-2.0199042629899213,-1.601477809228686,1.3356012191727085,-1.3049197367389425,-1.5707963267949239,-0.44910793619502615],"joint_velocity_rad_s":[-5.87596907549409e-12,9.408016308745921e-14,-1.7860607852579873e-12,-1.2048143246383349e-11,-2.5658865917369106e-11,-1.1219961543585907e-14],"linkage_position_rad":[0.0029336111720543565,0.00015630156304111508,0.0031934794660760267,-0.003429298941814726,0.002933611073647227,0.0001563011077709344,0.0031978493872181976,-0.0034379968901069187],"tcp_position_m":[0.08125537448653154,0.47723572262194414,0.43500000000000705],"tcp_quaternion_wxyz":[8.948819134139415e-15,0.7071067811865466,0.7071067811865481,1.549729764286617e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993593,5.176325201049174e-18,-5.527826839836379e-17,1.1325453403960242e-06],"object_linear_velocity_m_s":[8.463632193131862e-17,-1.3881188774807746e-18,1.3484460020373398e-14],"object_angular_velocity_rad_s":[-1.956265662218697e-15,1.1837962645536644e-15,5.714809300032263e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221293063,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167195,-1.5707951084242984,-0.4491079361950235,0.0],"actuator_force":[2.352408046135679e-09,-18.988043948665563,-20.286344739687593,-2.41332563768367,0.0006091878786946836,2.4442670110147446e-12,-0.2933611088916772],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.539999999999676,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.5599999999997,"qpos":[-2.0199042629899164,-1.601477809228686,1.3356012191727091,-1.3049197367389322,-1.5707963267949008,-0.44910793619502615,0.0029336111727184724,0.00015630156824325542,0.0031934794614216755,-0.003429298942602327,0.0029336110736013624,0.00015630110432766735,0.0031978493908663076,-0.0034379968899651424,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993591,-5.110265569563237e-18,-4.5752646054919045e-17,1.132866030887206e-06],"qvel":[1.6408325668461312e-12,4.243889484947014e-14,6.604823186175709e-13,2.328918427486679e-12,4.343347717419844e-12,1.7008420445645668e-14,8.99207312405507e-10,4.496624924891956e-09,-4.407773283943041e-09,-3.052420379530091e-10,-8.003140110742308e-10,-2.9073335478883324e-09,2.746433004187183e-09,2.648202363846585e-10,1.6542531766517777e-16,-4.110624715821993e-17,1.2521341546511075e-14,-2.507057697372932e-15,-7.563475019190254e-15,1.0433798612773864e-07],"joint_position_rad":[-2.0199042629899164,-1.601477809228686,1.3356012191727091,-1.3049197367389322,-1.5707963267949008,-0.44910793619502615],"joint_velocity_rad_s":[1.6408325668461312e-12,4.243889484947014e-14,6.604823186175709e-13,2.328918427486679e-12,4.343347717419844e-12,1.7008420445645668e-14],"linkage_position_rad":[0.0029336111727184724,0.00015630156824325542,0.0031934794614216755,-0.003429298942602327,0.0029336110736013624,0.00015630110432766735,0.0031978493908663076,-0.0034379968899651424],"tcp_position_m":[0.08125537448652291,0.47723572262194464,0.4350000000000056],"tcp_quaternion_wxyz":[-7.224882620813972e-17,0.707106781186545,0.7071067811865497,6.66575660791532e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993591,-5.110265569563237e-18,-4.5752646054919045e-17,1.132866030887206e-06],"object_linear_velocity_m_s":[1.6542531766517777e-16,-4.110624715821993e-17,1.2521341546511075e-14],"object_angular_velocity_rad_s":[-2.5070405701061303e-15,-7.563480698425477e-15,1.043379861277388e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221303311,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.3097463880167193,-1.5707951084242981,-0.44910793619502315,0.0],"actuator_force":[-6.643858796451241e-10,-18.98804394864419,-20.286344740668028,-2.4133256391264695,0.0006091848670166655,-2.2737367544323206e-13,-0.29336111281045824],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.5599999999997,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.579999999999725,"qpos":[-2.0199042629899213,-1.601477809228686,1.335601219172707,-1.3049197367389396,-1.5707963267949134,-0.44910793619502615,0.002933611172236722,0.0001563015629838361,0.003193479465639259,-0.00342929894094159,0.002933611073774662,0.00015630110788913672,0.0031978493877421257,-0.0034379968907251113,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999358,-1.2231646667334129e-17,-5.785358921490642e-17,1.1332618097218805e-06],"qvel":[1.3165389618091525e-12,1.9136263200427694e-14,3.686112288046903e-13,3.111466071904139e-12,6.908864406397118e-12,2.150947542833832e-14,2.8318476859874596e-10,1.9120326457127974e-09,-1.7800296866586529e-09,-1.5830908502666926e-10,-1.0361707810834089e-10,-1.2542989085384978e-09,1.292509225430538e-09,2.3369144250079488e-11,6.967424398375325e-17,-1.462339655995899e-17,1.2887715144637374e-14,2.9305601141946246e-16,1.578487210152556e-15,1.1304166355701962e-08],"joint_position_rad":[-2.0199042629899213,-1.601477809228686,1.335601219172707,-1.3049197367389396,-1.5707963267949134,-0.44910793619502615],"joint_velocity_rad_s":[1.3165389618091525e-12,1.9136263200427694e-14,3.686112288046903e-13,3.111466071904139e-12,6.908864406397118e-12,2.150947542833832e-14],"linkage_position_rad":[0.002933611172236722,0.0001563015629838361,0.003193479465639259,-0.00342929894094159,0.002933611073774662,0.00015630110788913672,0.0031978493877421257,-0.0034379968907251113],"tcp_position_m":[0.08125537448652889,0.4772357226219448,0.4350000000000076],"tcp_quaternion_wxyz":[4.1976929029158784e-15,0.7071067811865462,0.707106781186548,1.3190973026148999e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999358,-1.2231646667334129e-17,-5.785358921490642e-17,1.1332618097218805e-06],"object_linear_velocity_m_s":[6.967424398375325e-17,-1.462339655995899e-17,1.2887715144637374e-14],"object_angular_velocity_rad_s":[2.930524324321915e-16,1.5784878746434092e-15,1.1304166355701965e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221291472,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025068,-1.3097463880167188,-1.570795108424298,-0.44910793619502337,0.0],"actuator_force":[-5.238689482212067e-10,-18.988043948635095,-20.28634474054752,-2.4133256392008207,0.0006091846169056225,-7.958078640513122e-13,-0.2933611131984077],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950227],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.579999999999725,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950227],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.59999999999975,"qpos":[-2.0199042629899235,-1.601477809228686,1.3356012191727071,-1.3049197367389458,-1.5707963267949274,-0.44910793619502615,0.0029336111714968987,0.00015630155851608578,0.0031934794697322405,-0.003429298940754596,0.0029336110741366985,0.0001563011107489215,0.003197849384951609,-0.00343799689077292,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993578,-7.494760811952886e-18,-5.836539580435146e-17,1.1337108493768252e-06],"qvel":[-2.042645670913948e-12,5.996960682544401e-14,-9.817698027670228e-13,-2.041032535761808e-12,-3.0097811058938294e-12,1.7793166234730157e-14,-9.57916532226504e-10,-5.099929338244321e-09,4.995017862106344e-09,3.8874327198211674e-10,9.161410339544915e-10,3.2826367232026084e-09,-3.0176107726740787e-09,-3.3855731422533005e-10,7.441693436622863e-17,-8.221391688887042e-18,1.3330416575706652e-14,4.653485086835998e-16,1.548956887520681e-15,2.0638553107979376e-08],"joint_position_rad":[-2.0199042629899235,-1.601477809228686,1.3356012191727071,-1.3049197367389458,-1.5707963267949274,-0.44910793619502615],"joint_velocity_rad_s":[-2.042645670913948e-12,5.996960682544401e-14,-9.817698027670228e-13,-2.041032535761808e-12,-3.0097811058938294e-12,1.7793166234730157e-14],"linkage_position_rad":[0.0029336111714968987,0.00015630155851608578,0.0031934794697322405,-0.003429298940754596,0.0029336110741366985,0.0001563011107489215,0.003197849384951609,-0.00343799689077292],"tcp_position_m":[0.08125537448653404,0.4772357226219443,0.43500000000000805],"tcp_quaternion_wxyz":[9.991977154413443e-15,0.7071067811865476,0.7071067811865467,1.8338171878522257e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993578,-7.494760811952886e-18,-5.836539580435146e-17,1.1337108493768252e-06],"object_linear_velocity_m_s":[7.441693436622863e-17,-8.221391688887042e-18,1.3330416575706652e-14],"object_angular_velocity_rad_s":[4.653449941347919e-16,1.5489579429673662e-15,2.0638553107979396e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221280659,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167193,-1.5707951084242984,-0.4491079361950227,0.0],"actuator_force":[8.235474524553865e-10,-18.988043948651466,-20.28634474000637,-2.413325638682636,0.0006091856154171182,-8.526512829121202e-14,-0.29336111207280235],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727098,-1.304919736738932,-1.5707963267948966,-0.44910793619502404],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.59999999999975,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727098,-1.304919736738932,-1.5707963267948966,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.619999999999774,"qpos":[-2.0199042629899147,-1.601477809228686,1.3356012191727096,-1.3049197367389314,-1.570796326794898,-0.44910793619502615,0.0029336111737012544,0.0001563015727577321,0.0031934794568724695,-0.003429298942880223,0.002933611072681083,0.0001563011013740512,0.0031978493937091664,-0.003437996889695325,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993576,-1.3215250998224223e-17,-5.685268062939954e-17,1.1341502975185043e-06],"qvel":[1.4205663475005475e-12,5.3998596313900544e-14,6.057720416961912e-13,1.699100703347627e-12,2.8745419471676155e-12,1.087175078573395e-14,1.0160051505620386e-09,4.697375479332416e-09,-4.668517802248235e-09,-2.631417188279937e-10,-9.548767407703033e-10,-3.033091390617136e-09,2.855333350814623e-09,2.8425026172089787e-10,8.007096949642804e-17,-2.5091952568278288e-17,1.1949576688829112e-14,-3.5607452510263126e-16,4.493972696049639e-16,3.768078609139904e-08],"joint_position_rad":[-2.0199042629899147,-1.601477809228686,1.3356012191727096,-1.3049197367389314,-1.570796326794898,-0.44910793619502615],"joint_velocity_rad_s":[1.4205663475005475e-12,5.3998596313900544e-14,6.057720416961912e-13,1.699100703347627e-12,2.8745419471676155e-12,1.087175078573395e-14],"linkage_position_rad":[0.0029336111737012544,0.0001563015727577321,0.0031934794568724695,-0.003429298942880223,0.002933611072681083,0.0001563011013740512,0.0031978493937091664,-0.003437996889695325],"tcp_position_m":[0.0812553744865213,0.47723572262194475,0.43500000000000544],"tcp_quaternion_wxyz":[-1.1410686961759724e-15,0.7071067811865442,0.7071067811865502,5.485914435484971e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993576,-1.3215250998224223e-17,-5.685268062939954e-17,1.1341502975185043e-06],"object_linear_velocity_m_s":[8.007096949642804e-17,-2.5091952568278288e-17,1.1949576688829112e-14],"object_angular_velocity_rad_s":[-3.5607554875431835e-16,4.493964629156686e-16,3.76807860913991e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322131686,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.325458046802507,-1.3097463880167193,-1.5707951084242981,-0.44910793619502404,0.0],"actuator_force":[-5.788933776784688e-10,-18.988043948648283,-20.286344740647564,-2.4133256390639417,0.000609185012422131,-2.842170943040401e-14,-0.29336111262475895],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.619999999999774,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.639999999999798,"qpos":[-2.019904262989919,-1.601477809228686,1.3356012191727076,-1.3049197367389371,-1.5707963267949079,-0.44910793619502615,0.0029336111727228218,0.00015630156596384588,0.0031934794628454425,-0.0034292989412477177,0.002933611073441089,0.00015630110590046992,0.00319784938966871,-0.0034379968905882004,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993575,-1.8944289042649348e-17,-4.833196987940355e-17,1.1344977808032652e-06],"qvel":[1.75176327388584e-12,2.4000884306929923e-14,6.384932470542548e-13,3.0949177705069038e-12,6.297676026498388e-12,2.0208135456324433e-14,5.894232196169009e-10,3.362379616292413e-09,-3.2384501054918582e-09,-2.547988271426332e-10,-4.3843181958622104e-10,-2.185126306131218e-09,2.1264293878226e-09,1.3965259594888877e-10,8.604520513410019e-17,-4.413817664760512e-17,1.2136926824234607e-14,-1.885920972034242e-15,-6.12886826885267e-16,6.879559981930351e-08],"joint_position_rad":[-2.019904262989919,-1.601477809228686,1.3356012191727076,-1.3049197367389371,-1.5707963267949079,-0.44910793619502615],"joint_velocity_rad_s":[1.75176327388584e-12,2.4000884306929923e-14,6.384932470542548e-13,3.0949177705069038e-12,6.297676026498388e-12,2.0208135456324433e-14],"linkage_position_rad":[0.0029336111727228218,0.00015630156596384588,0.0031934794628454425,-0.0034292989412477177,0.002933611073441089,0.00015630110590046992,0.00319784938966871,-0.0034379968905882004],"tcp_position_m":[0.08125537448652652,0.4772357226219451,0.4350000000000068],"tcp_quaternion_wxyz":[2.065742527823431e-15,0.7071067811865461,0.7071067811865486,1.0823508782253986e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993564,-1.8944289042649327e-17,-4.8331969879403497e-17,1.1344977808032639e-06],"object_linear_velocity_m_s":[8.604520513410019e-17,-4.413817664760512e-17,1.2136926824234607e-14],"object_angular_velocity_rad_s":[-1.8859195880419535e-15,-6.128911034234444e-16,6.87955998193035e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298941,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.3097463880167193,-1.5707951084242977,-0.44910793619502315,0.0],"actuator_force":[-7.025846571195871e-10,-18.988043948636914,-20.286344740656205,-2.4133256392004796,0.0006091846753406571,-5.400124791776761e-13,-0.2933611130631525],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.639999999999798,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.659999999999823,"qpos":[-2.019904262989923,-1.601477809228686,1.335601219172707,-1.3049197367389442,-1.5707963267949219,-0.44910793619502615,0.00293361117115474,0.00015630155733966058,0.003193479471123894,-0.0034292989408294663,0.0029336110746432395,0.00015630111142932914,0.0031978493844099214,-0.003437996890890731,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993564,-1.9131998830413405e-17,-3.630118023446534e-17,1.1347587389004809e-06],"qvel":[2.5085403382232414e-13,2.6797602288449186e-14,-1.5307642722081674e-13,2.105614258116272e-12,5.483045894174484e-12,2.105679922702392e-14,-2.2305088716779888e-10,-7.158508669504829e-10,8.508876061290788e-10,-1.639061470628004e-11,3.903450620029498e-10,4.332139386383163e-10,-2.854852355019521e-10,-1.2188306773957595e-10,4.586183770677647e-17,-2.302550764880004e-17,1.313751532517803e-14,7.052373437354225e-16,1.803433793602281e-15,7.453439861735479e-09],"joint_position_rad":[-2.019904262989923,-1.601477809228686,1.335601219172707,-1.3049197367389442,-1.5707963267949219,-0.44910793619502615],"joint_velocity_rad_s":[2.5085403382232414e-13,2.6797602288449186e-14,-1.5307642722081674e-13,2.105614258116272e-12,5.483045894174484e-12,2.105679922702392e-14],"linkage_position_rad":[0.00293361117115474,0.00015630155733966058,0.003193479471123894,-0.0034292989408294663,0.0029336110746432395,0.00015630111142932914,0.0031978493844099214,-0.003437996890890731],"tcp_position_m":[0.08125537448653243,0.477235722621945,0.43500000000000805],"tcp_quaternion_wxyz":[7.487709757431512e-15,0.7071067811865476,0.7071067811865471,1.689256141098637e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993564,-1.9131998830413405e-17,-3.630118023446534e-17,1.1347587389004809e-06],"object_linear_velocity_m_s":[4.586183770677647e-17,-2.302550764880004e-17,1.313751532517803e-14],"object_angular_velocity_rad_s":[7.052332502679544e-16,1.803435394431313e-15,7.453439861735482e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221274602,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802507,-1.3097463880167188,-1.5707951084242981,-0.4491079361950236,0.0],"actuator_force":[-9.413270163349807e-11,-18.988043948638733,-20.286344740338336,-2.4133256390978204,0.0006091847635616432,-8.242295734817162e-13,-0.29336111312636987],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.4491079361950241],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.659999999999823,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.679999999999847,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727076,-1.3049197367389445,-1.5707963267949254,-0.44910793619502615,0.002933611171300595,0.00015630155936983037,0.003193479469598462,-0.0034292989417841454,0.0029336110743437335,0.0001563011100200684,0.003197849385275988,-0.0034379968902868907,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993562,-1.2746740148907459e-17,-2.698636805105728e-17,1.135235182485871e-06],"qvel":[-6.3070969296723506e-12,9.581795085658928e-14,-1.929334200916825e-12,-1.298332477036817e-11,-2.7654355371046316e-11,-1.624086597306856e-14,-2.2971590544179523e-09,-1.3031738218097396e-08,1.2280778252569058e-08,1.1813385091292528e-09,1.5536809110402572e-09,8.453770089689834e-09,-8.22371268812723e-09,-6.047136890378933e-10,3.4250123246762756e-17,-1.5914620684451124e-17,1.288771514463737e-14,8.303593468385976e-16,1.2708145198354888e-15,1.360809895954506e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727076,-1.3049197367389445,-1.5707963267949254,-0.44910793619502615],"joint_velocity_rad_s":[-6.3070969296723506e-12,9.581795085658928e-14,-1.929334200916825e-12,-1.298332477036817e-11,-2.7654355371046316e-11,-1.624086597306856e-14],"linkage_position_rad":[0.002933611171300595,0.00015630155936983037,0.003193479469598462,-0.0034292989417841454,0.0029336110743437335,0.0001563011100200684,0.003197849385275988,-0.0034379968902868907],"tcp_position_m":[0.08125537448653254,0.47723572262194464,0.4350000000000076],"tcp_quaternion_wxyz":[9.161981663100202e-15,0.7071067811865467,0.7071067811865478,1.716164021594394e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993562,-1.2746740148907459e-17,-2.698636805105728e-17,1.135235182485871e-06],"object_linear_velocity_m_s":[3.4250123246762756e-17,-1.5914620684451124e-17,1.288771514463737e-14],"object_angular_velocity_rad_s":[8.303564607552848e-16,1.2708164054854209e-15,1.3608098959545075e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281056,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.325458046802508,-1.3097463880167193,-1.5707951084242981,-0.4491079361950241,0.0],"actuator_force":[2.5256667868234217e-09,-18.988043948666473,-20.286344739627566,-2.4133256375890824,0.0006091880790108917,2.6432189770275727e-12,-0.29336110856482567],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.679999999999847,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.69999999999987,"qpos":[-2.0199042629899178,-1.601477809228686,1.3356012191727082,-1.3049197367389347,-1.5707963267949023,-0.44910793619502615,0.0029336111734040216,0.00015630156967379896,0.003193479459287701,-0.003429298941596542,0.002933611072870454,0.00015630110347021283,0.0031978493919550847,-0.003437996890367022,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999356,-2.828479953080465e-17,-3.0216788164030465e-17,1.1357138631230728e-06],"qvel":[1.7704197406158731e-12,3.348027444136426e-14,7.098471567359491e-13,2.575441737330738e-12,4.829154391891772e-12,1.788566544809792e-14,7.967426994336929e-10,4.124795814289203e-09,-4.045118996197417e-09,-2.775430769527146e-10,-6.889664671880094e-10,-2.67250379911216e-09,2.555892678795031e-09,2.1235283839641071e-10,3.844501748008746e-17,-3.808178771771154e-17,1.242003369551402e-14,-1.2714192287843016e-16,6.182646297412243e-16,2.4844952227149963e-08],"joint_position_rad":[-2.0199042629899178,-1.601477809228686,1.3356012191727082,-1.3049197367389347,-1.5707963267949023,-0.44910793619502615],"joint_velocity_rad_s":[1.7704197406158731e-12,3.348027444136426e-14,7.098471567359491e-13,2.575441737330738e-12,4.829154391891772e-12,1.788566544809792e-14],"linkage_position_rad":[0.0029336111734040216,0.00015630156967379896,0.003193479459287701,-0.003429298941596542,0.002933611072870454,0.00015630110347021283,0.0031978493919550847,-0.003437996890367022],"tcp_position_m":[0.08125537448652426,0.4772357226219451,0.43500000000000627],"tcp_quaternion_wxyz":[3.0936667385683965e-17,0.7071067811865456,0.7071067811865491,8.331144448088642e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999356,-2.828479953080465e-17,-3.0216788164030465e-17,1.1357138631230728e-06],"object_linear_velocity_m_s":[3.844501748008746e-17,-3.808178771771154e-17,1.242003369551402e-14],"object_angular_velocity_rad_s":[-1.2714332872299547e-16,6.18264342351409e-16,2.4844952227150006e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322130947,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242984,-0.4491079361950231,0.0],"actuator_force":[-7.134985935408622e-10,-18.988043948641007,-20.286344740685763,-2.4133256391496616,0.00060918481904082,-2.8421709430404007e-13,-0.29336111285260497],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.69999999999987,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.719999999999896,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.3049197367389407,-1.5707963267949134,-0.44910793619502615,0.0029336111712954644,0.00015630155886360082,0.0031934794698737575,-0.003429298941131513,0.002933611074701119,0.00015630111040514978,0.003197849385430865,-0.0034379968908229406,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993546,-3.5343182721813455e-17,-2.690527174869173e-17,1.1361200609479325e-06],"qvel":[1.4570187408877928e-12,1.690308029816287e-14,4.197554183131095e-13,3.4091214678850645e-12,7.526522618363017e-12,2.199880178420311e-14,2.692225399274291e-10,2.006224351385776e-09,-1.8028044435088536e-09,-2.3621890927552554e-10,-6.960032473688612e-11,-1.3163530374344884e-09,1.3265030456480304e-09,5.316599434709093e-11,4.683891145688979e-17,-5.803618099661367e-17,1.2390890341117606e-14,-6.445533428829957e-16,1.2092345824567358e-17,4.536060863492756e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.3049197367389407,-1.5707963267949134,-0.44910793619502615],"joint_velocity_rad_s":[1.4570187408877928e-12,1.690308029816287e-14,4.197554183131095e-13,3.4091214678850645e-12,7.526522618363017e-12,2.199880178420311e-14],"linkage_position_rad":[0.0029336111712954644,0.00015630155886360082,0.0031934794698737575,-0.003429298941131513,0.002933611074701119,0.00015630111040514978,0.003197849385430865,-0.0034379968908229406],"tcp_position_m":[0.08125537448652935,0.47723572262194514,0.43500000000000755],"tcp_quaternion_wxyz":[4.104555742843573e-15,0.7071067811865467,0.7071067811865478,1.3666416642266806e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993546,-3.5343182721813455e-17,-2.690527174869173e-17,1.1361200609479325e-06],"object_linear_velocity_m_s":[4.683891145688979e-17,-5.803618099661367e-17,1.2390890341117606e-14],"object_angular_velocity_rad_s":[-6.445533727989278e-16,1.2090884450943527e-17,4.536060863492756e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221277242,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.4491079361950234,0.0],"actuator_force":[-5.793481250293553e-10,-18.98804394863464,-20.28634474056753,-2.413325639230152,0.0006091845550599828,-8.242295734817162e-13,-0.2933611132979403],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.719999999999896,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.73999999999992,"qpos":[-2.019904262989924,-1.601477809228686,1.3356012191727065,-1.3049197367389467,-1.5707963267949276,-0.44910793619502615,0.002933611170124536,0.00015630155332492377,0.0031934794755993662,-0.0034292989414425375,0.002933611075471396,0.00015630111387546138,0.0031978493816879673,-0.003437996890629723,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993544,-3.4976633094921035e-17,-2.4401465797675992e-17,1.136477613461818e-06],"qvel":[-2.2189708532169186e-12,5.683656237927247e-14,-1.0738780729177567e-12,-2.2259524528586304e-12,-3.2809661168282735e-12,1.520119800161289e-14,-1.051314527489333e-09,-5.587604072519339e-09,5.484667777510549e-09,4.1792777319659834e-10,1.00538682931233e-09,3.5738437656545355e-09,-3.2894552138137757e-09,-3.654492416606636e-10,5.168714798348654e-17,-7.428194521521796e-17,1.3033431916619414e-14,-1.784933048618888e-15,-1.1970774436532211e-15,8.281701638704772e-08],"joint_position_rad":[-2.019904262989924,-1.601477809228686,1.3356012191727065,-1.3049197367389467,-1.5707963267949276,-0.44910793619502615],"joint_velocity_rad_s":[-2.2189708532169186e-12,5.683656237927247e-14,-1.0738780729177567e-12,-2.2259524528586304e-12,-3.2809661168282735e-12,1.520119800161289e-14],"linkage_position_rad":[0.002933611170124536,0.00015630155332492377,0.0031934794755993662,-0.0034292989414425375,0.002933611075471396,0.00015630111387546138,0.0031978493816879673,-0.003437996890629723],"tcp_position_m":[0.08125537448653432,0.4772357226219448,0.4350000000000085],"tcp_quaternion_wxyz":[9.696132125866985e-15,0.7071067811865478,0.7071067811865469,1.910098377942184e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993544,-3.4976633094921035e-17,-2.4401465797675992e-17,1.136477613461818e-06],"object_linear_velocity_m_s":[5.168714798348654e-17,-7.428194521521796e-17,1.3033431916619414e-14],"object_angular_velocity_rad_s":[-1.784930331752565e-15,-1.1970814949297157e-15,8.281701638704776e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221261942,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.309746388016719,-1.5707951084242981,-0.4491079361950232,0.0],"actuator_force":[8.949427865445614e-10,-18.988043948650557,-20.286344739968627,-2.4133256386635367,0.0006091856428156461,-5.684341886080802e-14,-0.29336111205015813],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502387],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.73999999999992,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.759999999999945,"qpos":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.3049197367389327,-1.5707963267948983,-0.44910793619502615,0.002933611174231427,0.00015630157374587247,0.0031934794553045926,-0.003429298941918981,0.002933611072113325,0.00015630110082436716,0.003197849394447314,-0.003437996890098082,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993544,-3.3149283630391855e-17,-2.2314086630010565e-17,1.1367917581319758e-06],"qvel":[1.5566411244634348e-12,4.463542335883404e-14,6.607107734181794e-13,1.9083912584161043e-12,3.265815556372347e-12,1.2055655187260132e-14,9.310795392162251e-10,4.430227268742226e-09,-4.408849794463046e-09,-2.518671679955101e-10,-8.633307374495794e-10,-2.868675709535056e-09,2.7263643150489186e-09,2.464918662208398e-10,2.608524080816355e-17,-3.925370344170536e-17,1.290436849000674e-14,1.1713623328650789e-15,7.905016981819508e-16,8.972545523121665e-09],"joint_position_rad":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.3049197367389327,-1.5707963267948983,-0.44910793619502615],"joint_velocity_rad_s":[1.5566411244634348e-12,4.463542335883404e-14,6.607107734181794e-13,1.9083912584161043e-12,3.265815556372347e-12,1.2055655187260132e-14],"linkage_position_rad":[0.002933611174231427,0.00015630157374587247,0.0031934794553045926,-0.003429298941918981,0.002933611072113325,0.00015630110082436716,0.003197849394447314,-0.003437996890098082],"tcp_position_m":[0.08125537448652227,0.4772357226219451,0.43500000000000616],"tcp_quaternion_wxyz":[-1.360845861379369e-15,0.7071067811865446,0.7071067811865497,6.6062950119360384e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993544,-3.3149283630391855e-17,-2.2314086630010565e-17,1.1367917581319758e-06],"object_linear_velocity_m_s":[2.608524080816355e-17,-3.925370344170536e-17,1.290436849000674e-14],"object_angular_velocity_rad_s":[1.171360535189993e-15,7.905043619648667e-16,8.972545523121674e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322132147,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.5707951084242984,-0.44910793619502387,0.0],"actuator_force":[-6.316440703812987e-10,-18.988043948645554,-20.28634474066712,-2.413325639084178,0.0006091849733138588,-5.684341886080802e-14,-0.29336111265598164],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.759999999999945,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.77999999999997,"qpos":[-2.019904262989919,-1.601477809228686,1.3356012191727078,-1.3049197367389376,-1.5707963267949068,-0.44910793619502615,0.0029336111717824637,0.00015630156203596981,0.003193479466948639,-0.0034292989415309542,0.0029336110743815313,0.00015630110834546305,0.003197849387373593,-0.003437996890629329,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993543,-1.8319015296735915e-17,-3.3771532662797656e-17,1.1372447278274021e-06],"qvel":[1.9233621870098705e-12,2.2548523964056922e-14,7.11769902254445e-13,3.383287477823097e-12,6.854460499848546e-12,2.151211325961814e-14,6.041842969992799e-10,3.5966058673115043e-09,-3.4032940261140747e-09,-3.343760976026057e-10,-4.36763072860625e-10,-2.332768107858121e-09,2.2370540127560117e-09,1.7782648501041216e-10,4.193700488821382e-17,-2.694691301460625e-17,1.2352032535255723e-14,1.079255627334972e-15,6.648556896728792e-16,1.63816022752817e-08],"joint_position_rad":[-2.019904262989919,-1.601477809228686,1.3356012191727078,-1.3049197367389376,-1.5707963267949068,-0.44910793619502615],"joint_velocity_rad_s":[1.9233621870098705e-12,2.2548523964056922e-14,7.11769902254445e-13,3.383287477823097e-12,6.854460499848546e-12,2.151211325961814e-14],"linkage_position_rad":[0.0029336111717824637,0.00015630156203596981,0.003193479466948639,-0.0034292989415309542,0.0029336110743815313,0.00015630110834546305,0.003197849387373593,-0.003437996890629329],"tcp_position_m":[0.08125537448652637,0.47723572262194525,0.43500000000000694],"tcp_quaternion_wxyz":[1.6377975507372546e-15,0.7071067811865457,0.7071067811865486,1.0820604599367078e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993543,-1.8319015296735915e-17,-3.3771532662797656e-17,1.1372447278274021e-06],"object_linear_velocity_m_s":[4.193700488821382e-17,-2.694691301460625e-17,1.2352032535255723e-14],"object_angular_velocity_rad_s":[1.0792541140184624e-15,6.648581450268934e-16,1.6381602275281734e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221285749,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025081,-1.3097463880167197,-1.570795108424298,-0.449107936195023,0.0],"actuator_force":[-7.712515071034431e-10,-18.988043948636914,-20.286344740683944,-2.413325639229356,0.0006091846189519856,-5.968558980384842e-13,-0.2933611131453059],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.77999999999997,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.799999999999994,"qpos":[-2.0199042629899226,-1.601477809228686,1.3356012191727065,-1.3049197367389447,-1.5707963267949214,-0.44910793619502615,0.002933611169751494,0.0001563015520653576,0.003193479477097886,-0.0034292989415265376,0.00293361107602473,0.0001563011146391173,0.0031978493810709526,-0.0034379968907431086,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999353,-2.186121627757018e-17,-4.4638040550175284e-17,1.137694667164399e-06],"qvel":[2.764284270639257e-13,2.2308187043330252e-14,-1.5924185702762485e-13,2.2961285313557745e-12,5.97456691611451e-12,2.467790887691636e-14,-2.4749555408022693e-10,-7.930738580839763e-10,9.522762423954457e-10,-2.3723922465027023e-11,4.324039956215244e-10,4.766066811574989e-10,-3.1945100889866937e-10,-1.3170127771660034e-10,5.941715731085591e-17,-2.660063321752702e-17,1.270730390313577e-14,6.311085676390412e-17,-2.5781062161366298e-17,2.990866888486952e-08],"joint_position_rad":[-2.0199042629899226,-1.601477809228686,1.3356012191727065,-1.3049197367389447,-1.5707963267949214,-0.44910793619502615],"joint_velocity_rad_s":[2.764284270639257e-13,2.2308187043330252e-14,-1.5924185702762485e-13,2.2961285313557745e-12,5.97456691611451e-12,2.467790887691636e-14],"linkage_position_rad":[0.002933611169751494,0.0001563015520653576,0.003193479477097886,-0.0034292989415265376,0.00293361107602473,0.0001563011146391173,0.0031978493810709526,-0.0034379968907431086],"tcp_position_m":[0.08125537448653213,0.47723572262194514,0.43500000000000816],"tcp_quaternion_wxyz":[7.191632115719743e-15,0.7071067811865471,0.7071067811865476,1.716506454546471e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999353,-2.186121627757018e-17,-4.4638040550175284e-17,1.137694667164399e-06],"object_linear_velocity_m_s":[5.941715731085591e-17,-2.660063321752702e-17,1.270730390313577e-14],"object_angular_velocity_rad_s":[6.31109127555644e-17,-2.5780917251852485e-17,2.9908668884869525e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322125565,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025077,-1.309746388016719,-1.5707951084242977,-0.449107936195023,0.0],"actuator_force":[-1.0504663805477321e-10,-18.988043948636914,-20.286344740334243,-2.413325639116806,0.0006091847144489293,-9.094947017729282e-13,-0.29336111321335345],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.799999999999994,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.820000000000018,"qpos":[-2.0199042629899226,-1.601477809228686,1.335601219172707,-1.3049197367389462,-1.5707963267949274,-0.44910793619502615,0.002933611171613498,0.00015630155893895918,0.0031934794692825203,-0.003429298940734692,0.0029336110739415734,0.00015630111038941822,0.00319784938526097,-0.0034379968907526383,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993527,-9.407125853732276e-18,-4.432668613308265e-17,1.138121176064669e-06],"qvel":[-6.629768022676373e-12,8.990598971855204e-14,-2.0432048351630855e-12,-1.3690823863061838e-11,-2.9154529937861684e-11,-1.3816793811766045e-14,-2.523862211062225e-09,-1.4484484452087674e-08,1.3577967242725676e-08,1.2523175700983373e-09,1.731116382371568e-09,9.37991913343828e-09,-8.991864420877415e-09,-6.716515152884321e-10,6.630732514137849e-17,-4.861650983189478e-18,1.321939427324412e-14,1.6696069041620535e-15,-1.529966891168931e-16,5.460567650421843e-08],"joint_position_rad":[-2.0199042629899226,-1.601477809228686,1.335601219172707,-1.3049197367389462,-1.5707963267949274,-0.44910793619502615],"joint_velocity_rad_s":[-6.629768022676373e-12,8.990598971855204e-14,-2.0432048351630855e-12,-1.3690823863061838e-11,-2.9154529937861684e-11,-1.3816793811766045e-14],"linkage_position_rad":[0.002933611171613498,0.00015630155893895918,0.0031934794692825203,-0.003429298940734692,0.0029336110739415734,0.00015630111038941822,0.00319784938526097,-0.0034379968907526383],"tcp_position_m":[0.0812553744865336,0.4772357226219447,0.43500000000000816],"tcp_quaternion_wxyz":[9.841702540483834e-15,0.7071067811865471,0.7071067811865476,1.859946879491439e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993527,-9.407125853732276e-18,-4.432668613308265e-17,1.138121176064669e-06],"object_linear_velocity_m_s":[6.630732514137849e-17,-4.861650983189478e-18,1.321939427324412e-14],"object_angular_velocity_rad_s":[1.6696072475742946e-15,-1.5299288765919077e-16,5.460567650421848e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281638,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.3097463880167193,-1.5707951084242984,-0.44910793619502326,0.0],"actuator_force":[2.6566340238787234e-09,-18.988043948663744,-20.28634473958209,-2.413325637517346,0.0006091882299870122,2.8137492336099967e-12,-0.29336110831402445],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.820000000000018,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.840000000000042,"qpos":[-2.0199042629899178,-1.601477809228686,1.3356012191727085,-1.3049197367389342,-1.570796326794902,-0.44910793619502615,0.002933611172498989,0.0001563015660416064,0.0031934794631706637,-0.0034292989419527154,0.002933611073786734,0.00015630110571427516,0.0031978493898357193,-0.003437996890366269,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993525,-5.608651375986071e-19,-3.23982234856321e-17,1.1384275996091844e-06],"qvel":[1.94122611542692e-12,3.69760720222957e-14,7.85038573111169e-13,2.8187020825120247e-12,5.268411154195301e-12,1.7198275512379297e-14,8.308469253528756e-10,4.431760572649514e-09,-4.288234166579328e-09,-3.546858261646278e-10,-7.10593468335935e-10,-2.8624775154719243e-09,2.7019503572941314e-09,2.5405699063293336e-10,3.9199507404445307e-17,2.3569122315747676e-17,1.277530506339406e-14,1.7652992665177958e-15,1.8163194119969134e-15,9.969617564601318e-08],"joint_position_rad":[-2.0199042629899178,-1.601477809228686,1.3356012191727085,-1.3049197367389342,-1.570796326794902,-0.44910793619502615],"joint_velocity_rad_s":[1.94122611542692e-12,3.69760720222957e-14,7.85038573111169e-13,2.8187020825120247e-12,5.268411154195301e-12,1.7198275512379297e-14],"linkage_position_rad":[0.002933611172498989,0.0001563015660416064,0.0031934794631706637,-0.0034292989419527154,0.002933611073786734,0.00015630110571427516,0.0031978493898357193,-0.003437996890366269],"tcp_position_m":[0.08125537448652417,0.4772357226219451,0.43500000000000616],"tcp_quaternion_wxyz":[3.2389963699924303e-18,0.7071067811865456,0.7071067811865491,8.113919851676245e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993525,-5.608651375986071e-19,-3.23982234856321e-17,1.1384275996091844e-06],"object_linear_velocity_m_s":[3.9199507404445307e-17,2.3569122315747676e-17,1.277530506339406e-14],"object_angular_velocity_rad_s":[1.7652951245569672e-15,1.8163234314348458e-15,9.969617564601328e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322129674,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.3097463880167193,-1.570795108424298,-0.44910793619502326,0.0],"actuator_force":[-7.821654435247183e-10,-18.98804394864237,-20.286344740716686,-2.4133256391743316,0.0006091847752713875,-3.126388037344441e-13,-0.2933611129155534],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.840000000000042,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.860000000000067,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727067,-1.304919736738941,-1.5707963267949148,-0.44910793619502615,0.002933611169907185,0.00015630155373864757,0.0031934794757379602,-0.0034292989418550223,0.0029336110760876245,0.00015630111350668928,0.003197849382180559,-0.0034379968906813564,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993525,4.684362808511384e-18,-1.8186151904572428e-17,1.1388057709510244e-06],"qvel":[1.5942999603690135e-12,1.3503411913085426e-14,4.646393218039651e-13,3.72409343798295e-12,8.213512337696905e-12,2.24643733371557e-14,2.8967069184691054e-10,2.180825821012083e-09,-1.94795074623124e-09,-2.625161419104953e-10,-6.913435431666317e-11,-1.4228024909743268e-09,1.4302946802547321e-09,5.859691785365291e-11,2.5499431480097364e-17,5.6067237672393995e-18,1.2282643596216643e-14,4.0572486369045374e-17,1.1966344168888498e-15,1.0801264202570573e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727067,-1.304919736738941,-1.5707963267949148,-0.44910793619502615],"joint_velocity_rad_s":[1.5942999603690135e-12,1.3503411913085426e-14,4.646393218039651e-13,3.72409343798295e-12,8.213512337696905e-12,2.24643733371557e-14],"linkage_position_rad":[0.002933611169907185,0.00015630155373864757,0.0031934794757379602,-0.0034292989418550223,0.0029336110760876245,0.00015630111350668928,0.003197849382180559,-0.0034379968906813564],"tcp_position_m":[0.08125537448652968,0.47723572262194497,0.43500000000000794],"tcp_quaternion_wxyz":[4.608568583272812e-15,0.7071067811865465,0.7071067811865478,1.4137911803167716e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993525,4.684362808511384e-18,-1.8186151904572428e-17,1.1388057709510244e-06],"object_linear_velocity_m_s":[2.5499431480097364e-17,5.6067237672393995e-18,1.2282643596216643e-14],"object_angular_velocity_rad_s":[4.0569760507714126e-17,1.196634509192917e-15,1.0801264202570595e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221258563,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.3097463880167188,-1.570795108424298,-0.4491079361950235,0.0],"actuator_force":[-6.33917807135731e-10,-18.988043948633276,-20.28634474058481,-2.4133256392614157,0.0006091844870752539,-9.094947017729282e-13,-0.29336111340242216],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502276],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.860000000000067,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502276],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.88000000000009,"qpos":[-2.0199042629899258,-1.601477809228686,1.335601219172706,-1.3049197367389482,-1.570796326794932,-0.44910793619502615,0.002933611170280554,0.00015630155202696927,0.0031934794761090406,-0.003429298940375612,0.0029336110752250146,0.00015630111479619216,0.0031978493812154104,-0.0034379968911491814,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993512,1.0659520508183813e-17,-1.0591636014046521e-17,1.1392897220394362e-06],"qvel":[-2.281887785337145e-12,4.9314658520818245e-14,-1.1167191275980695e-12,-2.265801251638172e-12,-3.2734643948947004e-12,1.7665250747898166e-14,-1.209870470284664e-09,-6.457821002188401e-09,6.309309450001495e-09,4.217844994101715e-10,1.1642136421240647e-09,4.12231420535322e-09,-3.735797755054928e-09,-4.0981633454447024e-10,1.5931365209749143e-17,1.2943936850551029e-17,1.2861347347802505e-14,-2.771725763736026e-16,6.191745507734521e-16,1.9720380774971566e-08],"joint_position_rad":[-2.0199042629899258,-1.601477809228686,1.335601219172706,-1.3049197367389482,-1.570796326794932,-0.44910793619502615],"joint_velocity_rad_s":[-2.281887785337145e-12,4.9314658520818245e-14,-1.1167191275980695e-12,-2.265801251638172e-12,-3.2734643948947004e-12,1.7665250747898166e-14],"linkage_position_rad":[0.002933611170280554,0.00015630155202696927,0.0031934794761090406,-0.003429298940375612,0.0029336110752250146,0.00015630111479619216,0.0031978493812154104,-0.0034379968911491814],"tcp_position_m":[0.08125537448653655,0.4772357226219446,0.4350000000000086],"tcp_quaternion_wxyz":[1.150778921491865e-14,0.7071067811865486,0.7071067811865461,2.0755631622605127e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993512,1.0659520508183813e-17,-1.0591636014046521e-17,1.1392897220394362e-06],"object_linear_velocity_m_s":[1.5931365209749143e-17,1.2943936850551029e-17,1.2861347347802505e-14],"object_angular_velocity_rad_s":[-2.7717398762902855e-16,6.1917391879169e-16,1.9720380774971576e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221259725,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.325458046802508,-1.3097463880167197,-1.5707951084242981,-0.44910793619502276,0.0],"actuator_force":[9.231371222995222e-10,-18.98804394864692,-20.286344739949982,-2.4133256386592166,0.000609185644293575,-8.526512829121202e-14,-0.29336111204699433],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.88000000000009,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.900000000000116,"qpos":[-2.019904262989917,-1.601477809228686,1.3356012191727094,-1.3049197367389322,-1.5707963267948994,-0.44910793619502615,0.0029336111733618895,0.00015630157041480387,0.0031934794589446374,-0.0034292989423481872,0.0029336110730019144,0.00015630110288820912,0.0031978493924565313,-0.0034379968900540296,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999351,3.4485804184822483e-17,-1.2280823408062551e-17,1.1397096199188774e-06],"qvel":[1.7159456185942641e-12,4.8700604838978686e-14,7.261174563768392e-13,2.0985121162004887e-12,3.58308641030921e-12,1.1471048047810041e-14,9.790103143098697e-10,4.771764602118746e-09,-4.694628562399475e-09,-3.225642649096395e-10,-9.028578127802538e-10,-3.079417411526104e-09,2.8918209828283136e-09,2.9005106993830236e-10,2.0646445893115264e-17,5.4565230134790704e-17,1.2800285081448122e-14,1.993897078668334e-15,-1.1785010325473578e-16,3.600443527872739e-08],"joint_position_rad":[-2.019904262989917,-1.601477809228686,1.3356012191727094,-1.3049197367389322,-1.5707963267948994,-0.44910793619502615],"joint_velocity_rad_s":[1.7159456185942641e-12,4.8700604838978686e-14,7.261174563768392e-13,2.0985121162004887e-12,3.58308641030921e-12,1.1471048047810041e-14],"linkage_position_rad":[0.0029336111733618895,0.00015630157041480387,0.0031934794589446374,-0.0034292989423481872,0.0029336110730019144,0.00015630110288820912,0.0031978493924565313,-0.0034379968900540296],"tcp_position_m":[0.08125537448652279,0.47723572262194475,0.4350000000000056],"tcp_quaternion_wxyz":[-5.600028268732156e-16,0.7071067811865451,0.7071067811865496,6.178002607250244e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999351,3.4485804184822483e-17,-1.2280823408062551e-17,1.1397096199188774e-06],"object_linear_velocity_m_s":[2.0646445893115264e-17,5.4565230134790704e-17,1.2800285081448122e-14],"object_angular_velocity_rad_s":[1.993897346408623e-15,-1.1784556081035117e-16,3.600443527872742e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221309755,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025068,-1.3097463880167188,-1.5707951084242984,-0.449107936195024,0.0],"actuator_force":[-6.925802154000849e-10,-18.988043948647373,-20.286344740695768,-2.4133256391031637,0.0006091849421636653,-5.684341886080802e-14,-0.29336111269895276],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948963,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.900000000000116,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948963,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.92000000000014,"qpos":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.304919736738937,-1.5707963267949085,-0.44910793619502615,0.0029336111704259954,0.00015630155716344875,0.0031934794726021544,-0.003429298942297773,0.0029336110757534344,0.00015630111129362896,0.003197849384266995,-0.0034379968904673605,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993507,5.2046262895750424e-17,-9.891576996331259e-18,1.1400955332624566e-06],"qvel":[2.108612472438539e-12,1.9997856733543067e-14,7.802055753055663e-13,3.6981405742463255e-12,7.489896931008502e-12,2.0590630088516868e-14,6.554781028224496e-10,3.9205339741196606e-09,-3.7014845929772107e-09,-3.6984638819753133e-10,-4.703602235893981e-10,-2.528334219294202e-09,2.419625523739501e-09,1.9418234442624496e-10,1.487646391860595e-17,1.0729624761725508e-16,1.2557423794811372e-14,3.6268659657081656e-15,4.647164453892511e-16,6.5735006566666e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.304919736738937,-1.5707963267949085,-0.44910793619502615],"joint_velocity_rad_s":[2.108612472438539e-12,1.9997856733543067e-14,7.802055753055663e-13,3.6981405742463255e-12,7.489896931008502e-12,2.0590630088516868e-14],"linkage_position_rad":[0.0029336111704259954,0.00015630155716344875,0.0031934794726021544,-0.003429298942297773,0.0029336110757534344,0.00015630111129362896,0.003197849384266995,-0.0034379968904673605],"tcp_position_m":[0.08125537448652696,0.47723572262194475,0.4350000000000067],"tcp_quaternion_wxyz":[2.6987764253401082e-15,0.7071067811865459,0.7071067811865486,1.0619930355249654e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993507,5.2046262895750424e-17,-9.891576996331259e-18,1.1400955332624566e-06],"object_linear_velocity_m_s":[1.487646391860595e-17,1.0729624761725508e-16,1.2557423794811372e-14],"object_angular_velocity_rad_s":[3.626864904756017e-15,4.647247084928937e-16,6.57350065666661e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221267689,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025077,-1.3097463880167195,-1.5707951084242975,-0.44910793619502326,0.0],"actuator_force":[-8.444658305961639e-10,-18.98804394863646,-20.286344740712593,-2.4133256392610747,0.0006091845565379117,-6.252776074688882e-13,-0.2933611132345608],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950227],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.92000000000014,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950227],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.940000000000165,"qpos":[-2.0199042629899258,-1.601477809228686,1.3356012191727062,-1.3049197367389458,-1.5707963267949263,-0.44910793619502615,0.002933611169783473,0.00015630155024999167,0.003193479478119925,-0.0034292989404996433,0.0029336110759189057,0.0001563011159017589,0.0031978493802940987,-0.0034379968912871366,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993507,4.8945393278467154e-17,-5.705150824570454e-18,1.140344881800433e-06],"qvel":[3.773362084800873e-13,1.3973086125674673e-14,-1.4144621412645719e-13,2.54376374439386e-12,6.558735117180267e-12,2.686286994720651e-14,-3.6213035555885036e-10,-1.2697601995816818e-09,1.4427989926175552e-09,-6.595441832119406e-11,5.633692657569253e-10,7.746620594450216e-10,-5.640834259360206e-10,-1.5042038740756185e-10,7.922519022882711e-18,5.71082327878249e-17,1.2263214693285708e-14,-1.78769125493294e-15,3.652715326929255e-16,7.12184964652311e-09],"joint_position_rad":[-2.0199042629899258,-1.601477809228686,1.3356012191727062,-1.3049197367389458,-1.5707963267949263,-0.44910793619502615],"joint_velocity_rad_s":[3.773362084800873e-13,1.3973086125674673e-14,-1.4144621412645719e-13,2.54376374439386e-12,6.558735117180267e-12,2.686286994720651e-14],"linkage_position_rad":[0.002933611169783473,0.00015630155024999167,0.003193479478119925,-0.0034292989404996433,0.0029336110759189057,0.0001563011159017589,0.0031978493802940987,-0.0034379968912871366],"tcp_position_m":[0.08125537448653493,0.4772357226219446,0.4350000000000084],"tcp_quaternion_wxyz":[9.341697054636986e-15,0.7071067811865486,0.7071067811865461,1.847851715986095e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993507,4.8945393278467154e-17,-5.705150824570454e-18,1.140344881800433e-06],"object_linear_velocity_m_s":[7.922519022882711e-18,5.71082327878249e-17,1.2263214693285708e-14],"object_angular_velocity_rad_s":[-1.7876920880806013e-15,3.65267454825667e-16,7.1218496465231225e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322125201,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.5707951084242977,-0.4491079361950227,0.0],"actuator_force":[-1.405169314239174e-10,-18.988043948633276,-20.28634474034152,-2.413325639141135,0.0006091846584013183,-9.947598300641403e-13,-0.2933611132913135],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950241],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.940000000000165,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.96000000000019,"qpos":[-2.019904262989924,-1.601477809228686,1.3356012191727074,-1.304919736738947,-1.5707963267949308,-0.44910793619502615,0.002933611170475033,0.0001563015542153834,0.0031934794742607617,-0.0034292989411041316,0.002933611075021809,0.00015630111333162853,0.0031978493823878787,-0.0034379968907333157,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993495,6.828188716448624e-17,1.8562681905556556e-17,1.140800129262429e-06],"qvel":[-7.180462284268429e-12,9.299906187877999e-14,-2.231692800771598e-12,-1.4873532696165617e-11,-3.164610580039467e-11,-2.0246075243653936e-14,-2.7759044508960067e-09,-1.583920129589312e-08,1.488306262566481e-08,1.316956003024137e-09,1.906636128045671e-09,1.0205010448220023e-08,-9.801138352955273e-09,-7.032068891389634e-10,-2.095011028655698e-17,8.055232185853112e-17,1.3043146368084881e-14,-1.7062055783299923e-15,2.215754704608607e-17,1.3002698963524696e-08],"joint_position_rad":[-2.019904262989924,-1.601477809228686,1.3356012191727074,-1.304919736738947,-1.5707963267949308,-0.44910793619502615],"joint_velocity_rad_s":[-7.180462284268429e-12,9.299906187877999e-14,-2.231692800771598e-12,-1.4873532696165617e-11,-3.164610580039467e-11,-2.0246075243653936e-14],"linkage_position_rad":[0.002933611170475033,0.0001563015542153834,0.0031934794742607617,-0.0034292989411041316,0.002933611075021809,0.00015630111333162853,0.0031978493823878787,-0.0034379968907333157],"tcp_position_m":[0.08125537448653501,0.47723572262194436,0.43500000000000805],"tcp_quaternion_wxyz":[1.1231684058057466e-14,0.7071067811865478,0.7071067811865469,1.926386029042953e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993495,6.828188716448624e-17,1.8562681905556556e-17,1.140800129262429e-06],"object_linear_velocity_m_s":[-2.095011028655698e-17,8.055232185853112e-17,1.3043146368084881e-14],"object_angular_velocity_rad_s":[-1.7062056283974852e-15,2.21536523912427e-17,1.30026989635247e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221266179,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.4491079361950241,0.0],"actuator_force":[2.879460225813091e-09,-18.98804394866511,-20.286344739507058,-2.4133256373987706,0.000609188480893863,3.0411229090532288e-12,-0.29336110792850045],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.570796326794897,-0.44910793619502376],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.96000000000019,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.570796326794897,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":18.980000000000214,"qpos":[-2.0199042629899173,-1.601477809228686,1.3356012191727091,-1.3049197367389336,-1.5707963267949014,-0.44910793619502615,0.002933611171194141,0.00015630156153066622,0.003193479468469093,-0.003429298942762199,0.002933611075118693,0.0001563011084961641,0.0031978493868603936,-0.0034379968901662172,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993493,8.603425997713088e-17,4.5390551783354924e-17,1.1412575142538016e-06],"qvel":[2.125572139109405e-12,3.655301523160313e-14,8.601613315033548e-13,3.080175481677406e-12,5.749231786648742e-12,1.5148882744847585e-14,9.032517390060662e-10,4.834545148502895e-09,-4.670483521729826e-09,-3.9056979781783206e-10,-7.707563539121128e-10,-3.109276760863481e-09,2.9299651705496087e-09,2.7789958964110135e-10,-5.901744338340364e-17,1.1000083171175837e-16,1.3390091063280243e-14,-9.47903256778049e-16,3.090997177525087e-16,2.3739644716960283e-08],"joint_position_rad":[-2.0199042629899173,-1.601477809228686,1.3356012191727091,-1.3049197367389336,-1.5707963267949014,-0.44910793619502615],"joint_velocity_rad_s":[2.125572139109405e-12,3.655301523160313e-14,8.601613315033548e-13,3.080175481677406e-12,5.749231786648742e-12,1.5148882744847585e-14],"linkage_position_rad":[0.002933611171194141,0.00015630156153066622,0.003193479468469093,-0.003429298942762199,0.002933611075118693,0.0001563011084961641,0.0031978493868603936,-0.0034379968901662172],"tcp_position_m":[0.08125537448652372,0.4772357226219448,0.43500000000000577],"tcp_quaternion_wxyz":[-2.5678650306625173e-17,0.7071067811865452,0.7071067811865492,7.326894503412809e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993493,8.603425997713088e-17,4.5390551783354924e-17,1.1412575142538016e-06],"object_linear_velocity_m_s":[-5.901744338340364e-17,1.1000083171175837e-16,1.3390091063280243e-14],"object_angular_velocity_rad_s":[-9.47903960145216e-16,3.090975500634316e-16,2.373964471696031e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221280464,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.44910793619502376,0.0],"actuator_force":[-8.567440090700984e-10,-18.988043948641916,-20.28634474074761,-2.4133256392008207,0.0006091847267271078,-3.126388037344441e-13,-0.2933611129781186],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":18.980000000000214,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.000000000000238,"qpos":[-2.0199042629899235,-1.601477809228686,1.3356012191727067,-1.3049197367389413,-1.5707963267949163,-0.44910793619502615,0.0029336111698531286,0.00015630155169999216,0.0031934794770113496,-0.0034292989408946013,0.002933611076085759,0.0001563011149465448,0.0031978493812570286,-0.0034379968912058773,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993491,1.0532070761971065e-16,6.452095925802907e-17,1.1417010600869562e-06],"qvel":[1.7756074073739202e-12,8.105262021187923e-15,5.236077997382366e-13,4.0596026531263284e-12,8.913104777228182e-12,2.422562096286813e-14,2.062514413978231e-10,1.9657457356560252e-09,-1.6822230340045317e-09,-3.3466944545437e-10,3.282440324775931e-11,-1.2947926851693786e-09,1.3154241910653754e-09,6.182435065973512e-11,-9.807112494192933e-17,1.617070610229537e-16,1.1622060896564681e-14,1.3340701110861798e-15,1.4490950674725454e-15,4.3342596246236835e-08],"joint_position_rad":[-2.0199042629899235,-1.601477809228686,1.3356012191727067,-1.3049197367389413,-1.5707963267949163,-0.44910793619502615],"joint_velocity_rad_s":[1.7756074073739202e-12,8.105262021187923e-15,5.236077997382366e-13,4.0596026531263284e-12,8.913104777228182e-12,2.422562096286813e-14],"linkage_position_rad":[0.0029336111698531286,0.00015630155169999216,0.0031934794770113496,-0.0034292989408946013,0.002933611076085759,0.0001563011149465448,0.0031978493812570286,-0.0034379968912058773],"tcp_position_m":[0.08125537448653103,0.47723572262194464,0.43500000000000794],"tcp_quaternion_wxyz":[5.1646662558814095e-15,0.7071067811865477,0.7071067811865464,1.45829871733138e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993491,1.0532070761971065e-16,6.452095925802907e-17,1.1417010600869562e-06],"object_linear_velocity_m_s":[-9.807112494192933e-17,1.617070610229537e-16,1.1622060896564681e-14],"object_angular_velocity_rad_s":[1.3340668078089769e-15,1.4490981045575506e-15,4.33425962462369e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221254255,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.3097463880167188,-1.5707951084242977,-0.4491079361950232,0.0],"actuator_force":[-7.030394044704735e-10,-18.988043948630548,-20.28634474060891,-2.413325639294726,0.0006091844179536565,-9.663381206337363e-13,-0.29336111349232363],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.570796326794897,-0.4491079361950243],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.000000000000238,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.570796326794897,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.020000000000262,"qpos":[-2.019904262989926,-1.601477809228686,1.3356012191727062,-1.3049197367389491,-1.5707963267949336,-0.44910793619502615,0.0029336111690031726,0.0001563015466579704,0.0031934794817530107,-0.0034292989407499527,0.0029336110764413845,0.00015630111814783038,0.00319784937794152,-0.0034379968911401873,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993489,9.858113805577554e-17,7.527289477897728e-17,1.1420427057286824e-06],"qvel":[-2.4606796076415516e-12,4.9240668521336185e-14,-1.2142682187897388e-12,-2.446523916218309e-12,-3.5297740145438653e-12,1.0101763143726813e-14,-1.3411796742929357e-09,-7.0819020540702385e-09,6.958844681615766e-09,4.1585296900390757e-10,1.2925568864785887e-09,4.4968662312403106e-09,-4.096481891980863e-09,-4.2542347003973757e-10,-1.8504412083836434e-16,1.9535515972864345e-16,1.206337454885318e-14,3.6444012494050044e-15,7.596856193877356e-15,7.913263537690322e-08],"joint_position_rad":[-2.019904262989926,-1.601477809228686,1.3356012191727062,-1.3049197367389491,-1.5707963267949336,-0.44910793619502615],"joint_velocity_rad_s":[-2.4606796076415516e-12,4.9240668521336185e-14,-1.2142682187897388e-12,-2.446523916218309e-12,-3.5297740145438653e-12,1.0101763143726813e-14],"linkage_position_rad":[0.0029336111690031726,0.0001563015466579704,0.0031934794817530107,-0.0034292989407499527,0.0029336110764413845,0.00015630111814783038,0.00319784937794152,-0.0034379968911401873],"tcp_position_m":[0.0812553744865372,0.4772357226219445,0.4350000000000087],"tcp_quaternion_wxyz":[1.2090248773682144e-14,0.7071067811865486,0.7071067811865461,2.1338091181368623e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993489,9.858113805577554e-17,7.527289477897728e-17,1.1420427057286824e-06],"object_linear_velocity_m_s":[-1.8504412083836434e-16,1.9535515972864345e-16,1.206337454885318e-14],"object_angular_velocity_rad_s":[3.6443839094402026e-15,7.596864502379325e-15,7.913263537690337e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221242226,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025075,-1.3097463880167195,-1.5707951084242981,-0.4491079361950243,0.0],"actuator_force":[9.963514457922429e-10,-18.988043948646464,-20.286344739912238,-2.413325638640572,0.0006091856707826082,-1.1368683772161603e-13,-0.2933611120291139],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.020000000000262,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.040000000000287,"qpos":[-2.0199042629899155,-1.601477809228686,1.33560121917271,-1.3049197367389314,-1.570796326794897,-0.44910793619502615,0.0029336111721352115,0.00015630156632474976,0.003193479463832533,-0.003429298943190448,0.002933611074262953,0.00015630110543258253,0.0031978493896894166,-0.003437996889821083,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993477,8.329594502775164e-17,7.806452865848559e-17,1.142342874664048e-06],"qvel":[1.873303857864732e-12,4.92792791773613e-14,7.964889870761507e-13,2.291377282318047e-12,3.904886291673685e-12,1.4138311524526551e-14,1.064993501543902e-09,5.204749849780364e-09,-5.11371042008869e-09,-3.543605111510964e-10,-9.811905594853435e-10,-3.3466810682417547e-09,3.1382973974414375e-09,3.176036830298111e-10,-9.259765167168e-17,1.0208599004522968e-16,1.3083391952727543e-14,-3.537576700538771e-15,-2.8390429163216776e-15,8.57337301268711e-09],"joint_position_rad":[-2.0199042629899155,-1.601477809228686,1.33560121917271,-1.3049197367389314,-1.570796326794897,-0.44910793619502615],"joint_velocity_rad_s":[1.873303857864732e-12,4.92792791773613e-14,7.964889870761507e-13,2.291377282318047e-12,3.904886291673685e-12,1.4138311524526551e-14],"linkage_position_rad":[0.0029336111721352115,0.00015630156632474976,0.003193479463832533,-0.003429298943190448,0.002933611074262953,0.00015630110543258253,0.0031978493896894166,-0.003437996889821083],"tcp_position_m":[0.08125537448652137,0.4772357226219447,0.43500000000000527],"tcp_quaternion_wxyz":[-1.543290727237686e-15,0.7071067811865442,0.70710678118655,5.319206273225823e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993477,8.329594502775164e-17,7.806452865848559e-17,1.142342874664048e-06],"object_linear_velocity_m_s":[-9.259765167168e-17,1.0208599004522968e-16,1.3083391952727543e-14],"object_angular_velocity_rad_s":[-3.537570212870093e-15,-2.839050999993597e-15,8.573373012687114e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295086,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.4491079361950235,0.0],"actuator_force":[-7.580638339277357e-10,-18.988043948647373,-20.286344740724417,-2.413325639123059,0.0006091849088534218,-8.526512829121202e-14,-0.2933611127389229],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948963,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.040000000000287,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948963,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.06000000000031,"qpos":[-2.0199042629899213,-1.601477809228686,1.3356012191727074,-1.3049197367389376,-1.570796326794908,-0.44910793619502615,0.0029336111703172517,0.0001563015550984018,0.0031934794739627392,-0.0034292989414126934,0.002933611075821707,0.00015630111276088791,0.003197849383299519,-0.003437996890972267,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993475,4.355332618969729e-17,8.646733557436366e-17,1.1428301024730796e-06],"qvel":[2.31948973878287e-12,1.981721405388578e-14,8.600450752692356e-13,4.032931758836644e-12,8.123201490923767e-12,2.330144741638087e-14,5.948988977648349e-10,3.8723102988090505e-09,-3.581644811752598e-09,-4.6081942969670726e-10,-3.938619728162846e-10,-2.5090458020315565e-09,2.385085679092889e-09,2.1557455482927846e-10,-1.0553674366861268e-16,5.832749682719734e-17,1.3423397754019e-14,-3.1091239009583958e-15,-2.5550787836723525e-15,1.565281407484015e-08],"joint_position_rad":[-2.0199042629899213,-1.601477809228686,1.3356012191727074,-1.3049197367389376,-1.570796326794908,-0.44910793619502615],"joint_velocity_rad_s":[2.31948973878287e-12,1.981721405388578e-14,8.600450752692356e-13,4.032931758836644e-12,8.123201490923767e-12,2.330144741638087e-14],"linkage_position_rad":[0.0029336111703172517,0.0001563015550984018,0.0031934794739627392,-0.0034292989414126934,0.002933611075821707,0.00015630111276088791,0.003197849383299519,-0.003437996890972267],"tcp_position_m":[0.08125537448652746,0.47723572262194497,0.43500000000000716],"tcp_quaternion_wxyz":[2.1116737635945145e-15,0.7071067811865462,0.707106781186548,1.1294480812224336e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993475,4.355332618969729e-17,8.646733557436366e-17,1.1428301024730796e-06],"object_linear_velocity_m_s":[-1.0553674366861268e-16,5.832749682719734e-17,1.3423397754019e-14],"object_angular_velocity_rad_s":[-3.1091180582014653e-15,-2.555085891429915e-15,1.5652814074840167e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263237,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029992,1.325458046802507,-1.3097463880167188,-1.5707951084242975,-0.4491079361950228,0.0],"actuator_force":[-9.258656064048409e-10,-18.988043948634186,-20.28634474074488,-2.4133256392938165,0.0006091844929869694,-6.821210263296962e-13,-0.2933611133121325],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.06000000000031,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.080000000000336,"qpos":[-2.0199042629899204,-1.601477809228686,1.3356012191727078,-1.3049197367389416,-1.5707963267949194,-0.44910793619502615,0.0029336111720265515,0.00015630156296805804,0.003193479466078606,-0.0034292989416667714,0.0029336110738059527,0.00015630110786901534,0.0031978493873176914,-0.0034379968902883387,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993474,1.456040830185095e-17,9.982435880006453e-17,1.1432600248133146e-06],"qvel":[-1.5711818504624964e-12,7.238443575530724e-14,-7.336558487335383e-13,-1.7069703711956657e-12,-2.7269327355805003e-12,1.617787321761086e-14,-5.755828666198346e-10,-2.9576406691291534e-09,2.8984665841832206e-09,3.090336454654282e-10,5.350600287113824e-10,1.9353841290791734e-09,-1.8308616975516899e-09,-2.1567945672998303e-10,-1.3637727770404078e-16,2.180736251608967e-17,1.1563774187771863e-14,-1.937757671185152e-15,-9.901428221237858e-16,2.8578085672806284e-08],"joint_position_rad":[-2.0199042629899204,-1.601477809228686,1.3356012191727078,-1.3049197367389416,-1.5707963267949194,-0.44910793619502615],"joint_velocity_rad_s":[-1.5711818504624964e-12,7.238443575530724e-14,-7.336558487335383e-13,-1.7069703711956657e-12,-2.7269327355805003e-12,1.617787321761086e-14],"linkage_position_rad":[0.0029336111720265515,0.00015630156296805804,0.003193479466078606,-0.0034292989416667714,0.0029336110738059527,0.00015630110786901534,0.0031978493873176914,-0.0034379968902883387],"tcp_position_m":[0.08125537448653028,0.4772357226219445,0.4350000000000075],"tcp_quaternion_wxyz":[6.875460998695662e-15,0.7071067811865461,0.7071067811865481,1.4842601872011068e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993474,1.456040830185095e-17,9.982435880006453e-17,1.1432600248133146e-06],"object_linear_velocity_m_s":[-1.3637727770404078e-16,2.180736251608967e-17,1.1563774187771863e-14],"object_angular_velocity_rad_s":[-1.937755401493096e-15,-9.901472536751764e-16,2.8578085672806334e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221292366,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.5707951084242984,-0.4491079361950228,0.0],"actuator_force":[6.284608389250934e-10,-18.98804394865647,-20.28634474010778,-2.4133256387181063,0.0006091855832437432,2.842170943040401e-14,-0.293361112089011],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.080000000000336,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.10000000000036,"qpos":[-2.019904262989915,-1.601477809228686,1.3356012191727098,-1.3049197367389311,-1.5707963267948963,-0.44910793619502615,0.0029336111741651246,0.00015630157330599918,0.003193479455669918,-0.0034292989421207884,0.0029336110722306213,0.00015630110110259607,0.003197849394416381,-0.003437996890104186,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993461,1.1258170911933287e-17,9.213265712830247e-17,1.143667559095064e-06],"qvel":[1.5208088628477543e-12,6.040680013145035e-14,6.752660267121296e-13,1.5711143532783375e-12,2.3766067625933725e-12,1.518998264995733e-14,1.0482697059209293e-09,4.923847559783037e-09,-4.837672324998331e-09,-3.589825664042913e-10,-1.000791671376433e-09,-3.1866075687563668e-09,2.951652469336593e-09,3.4117402313951246e-10,-1.414690897571017e-16,1.8950438864568053e-17,1.2271541365970399e-14,4.832034550868666e-16,9.724736070321314e-17,5.217636757309531e-08],"joint_position_rad":[-2.019904262989915,-1.601477809228686,1.3356012191727098,-1.3049197367389311,-1.5707963267948963,-0.44910793619502615],"joint_velocity_rad_s":[1.5208088628477543e-12,6.040680013145035e-14,6.752660267121296e-13,1.5711143532783375e-12,2.3766067625933725e-12,1.518998264995733e-14],"linkage_position_rad":[0.0029336111741651246,0.00015630157330599918,0.003193479455669918,-0.0034292989421207884,0.0029336110722306213,0.00015630110110259607,0.003197849394416381,-0.003437996890104186],"tcp_position_m":[0.08125537448652115,0.47723572262194497,0.43500000000000527],"tcp_quaternion_wxyz":[-1.9404623335866136e-15,0.7071067811865446,0.7071067811865501,5.176596951330254e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993461,1.1258170911933287e-17,9.213265712830247e-17,1.143667559095064e-06],"object_linear_velocity_m_s":[-1.414690897571017e-16,1.8950438864568053e-17,1.2271541365970399e-14],"object_angular_velocity_rad_s":[4.832032422625955e-16,9.724846477638088e-17,5.2176367573095323e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221319555,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025077,-1.3097463880167195,-1.5707951084242984,-0.44910793619502287,0.0],"actuator_force":[-6.180016498547047e-10,-18.988043948651466,-20.286344740674394,-2.4133256390513225,0.0006091850613074712,1.1368683772161603e-13,-0.29336111255717745],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.10000000000036,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.120000000000385,"qpos":[-2.0199042629899187,-1.601477809228686,1.3356012191727085,-1.3049197367389351,-1.5707963267949028,-0.44910793619502615,0.0029336111712247826,0.00015630155989007435,0.0031934794691924487,-0.00342929894179102,0.002933611075053714,0.00015630110963932382,0.003197849386382556,-0.003437996890731164,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993459,1.4010580318185578e-17,8.037117301421473e-17,1.144016305175241e-06],"qvel":[2.3423153173286343e-12,3.680895154915633e-14,9.535172138374904e-13,3.3797732578407688e-12,6.26993770450046e-12,1.7314361675870867e-14,8.400311608832172e-10,4.848117641250305e-09,-4.570778965101962e-09,-5.16661631790469e-10,-6.939491359360687e-10,-3.1277176917321136e-09,2.8963024546210465e-09,3.227228567182198e-10,-1.8371477398312413e-16,3.999937759656187e-17,1.3378988833033992e-14,1.986552464901369e-15,4.729869118713702e-15,9.526087101465902e-08],"joint_position_rad":[-2.0199042629899187,-1.601477809228686,1.3356012191727085,-1.3049197367389351,-1.5707963267949028,-0.44910793619502615],"joint_velocity_rad_s":[2.3423153173286343e-12,3.680895154915633e-14,9.535172138374904e-13,3.3797732578407688e-12,6.26993770450046e-12,1.7314361675870867e-14],"linkage_position_rad":[0.0029336111712247826,0.00015630155989007435,0.0031934794691924487,-0.00342929894179102,0.002933611075053714,0.00015630110963932382,0.003197849386382556,-0.003437996890731164],"tcp_position_m":[0.0812553744865248,0.4772357226219451,0.4350000000000065],"tcp_quaternion_wxyz":[1.7801757542870476e-16,0.7071067811865458,0.7071067811865489,8.700269961056692e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993459,1.4010580318185578e-17,8.037117301421473e-17,1.144016305175241e-06],"object_linear_velocity_m_s":[-1.8371477398312413e-16,3.999937759656187e-17,1.3378988833033992e-14],"object_angular_velocity_rad_s":[1.986541658113843e-15,4.729873661328843e-15,9.526087101465906e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221277098,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.3097463880167188,-1.5707951084242977,-0.4491079361950233,0.0],"actuator_force":[-9.395080269314349e-10,-18.988043948641916,-20.28634474078399,-2.413325639229811,0.0006091846755680308,-3.410605131648481e-13,-0.293361113044335],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.120000000000385,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.14000000000041,"qpos":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.3049197367389411,-1.5707963267949157,-0.44910793619502615,0.0029336111719595348,0.0001563015630260257,0.003193479466141758,-0.003429298941706691,0.0029336110739953463,0.0001563011077705751,0.0031978493874778653,-0.003437996890346226,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993459,1.6112691312590283e-17,7.274987479458815e-17,1.1443776523501253e-06],"qvel":[2.029886791796494e-13,4.308657906722485e-14,-1.0790705634401619e-13,1.569052535204884e-12,4.062677959293199e-12,1.9904664972407234e-14,2.4156379265200752e-11,3.961631752476846e-10,-3.1368005737428167e-10,8.071243309278523e-12,9.883502726181804e-11,-2.6066237666698926e-10,3.1524994510248777e-10,-5.235864389302818e-11,-9.054262652032568e-17,1.8410181632411563e-17,1.2701752788012647e-14,-4.3291579405432736e-16,-3.0482027271070522e-15,1.032073526721505e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.335601219172708,-1.3049197367389411,-1.5707963267949157,-0.44910793619502615],"joint_velocity_rad_s":[2.029886791796494e-13,4.308657906722485e-14,-1.0790705634401619e-13,1.569052535204884e-12,4.062677959293199e-12,1.9904664972407234e-14],"linkage_position_rad":[0.0029336111719595348,0.0001563015630260257,0.003193479466141758,-0.003429298941706691,0.0029336110739953463,0.0001563011077705751,0.0031978493874778653,-0.003437996890346226],"tcp_position_m":[0.08125537448652906,0.477235722621945,0.43500000000000716],"tcp_quaternion_wxyz":[5.248685535093442e-15,0.7071067811865462,0.7071067811865485,1.3816924864127291e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993459,1.6112691312590283e-17,7.274987479458815e-17,1.1443776523501253e-06],"object_linear_velocity_m_s":[-9.054262652032568e-17,1.8410181632411563e-17,1.2701752788012647e-14],"object_angular_velocity_rad_s":[-4.3290881596136776e-16,-3.0482037182699805e-15,1.0320735267215064e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290945,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802508,-1.3097463880167193,-1.5707951084242981,-0.4491079361950233,0.0],"actuator_force":[-8.139977580867708e-11,-18.9880439486451,-20.28634474035698,-2.413325639045979,0.000609184902373272,-5.968558980384842e-13,-0.2933611129127011],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.14000000000041,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.160000000000434,"qpos":[-2.01990426298992,-1.601477809228686,1.3356012191727085,-1.304919736738942,-1.5707963267949183,-0.44910793619502615,0.0029336111723738847,0.00015630156381831104,0.0031934794647503883,-0.003429298941378693,0.0029336110734480645,0.0001563011072832235,0.0031978493882479915,-0.00343799689048017,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993456,3.648664620238751e-17,7.809453828326703e-17,1.1448400733197556e-06],"qvel":[-4.765476985931065e-12,1.0262464593303317e-13,-1.3780502636340252e-12,-1.0191590533924421e-11,-2.2039312596016967e-11,-8.368899105817714e-15,-1.6944366290222298e-09,-9.154149329074206e-09,8.6742735301979e-09,8.138630408943867e-10,1.1147771486203464e-09,6.004052462066801e-09,-5.9744708754967065e-09,-3.803115929270194e-10,-9.93613078216446e-17,4.278271342790716e-17,1.2303460277928376e-14,-2.865218974550053e-16,-2.0122173494287577e-15,1.8843056287679034e-08],"joint_position_rad":[-2.01990426298992,-1.601477809228686,1.3356012191727085,-1.304919736738942,-1.5707963267949183,-0.44910793619502615],"joint_velocity_rad_s":[-4.765476985931065e-12,1.0262464593303317e-13,-1.3780502636340252e-12,-1.0191590533924421e-11,-2.2039312596016967e-11,-8.368899105817714e-15],"linkage_position_rad":[0.0029336111723738847,0.00015630156381831104,0.0031934794647503883,-0.003429298941378693,0.0029336110734480645,0.0001563011072832235,0.0031978493882479915,-0.00343799689048017],"tcp_position_m":[0.08125537448652974,0.47723572262194486,0.43500000000000716],"tcp_quaternion_wxyz":[6.487462980841788e-15,0.7071067811865462,0.7071067811865485,1.4362629967345476e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993456,3.648664620238751e-17,7.809453828326703e-17,1.1448400733197556e-06],"object_linear_velocity_m_s":[-9.93613078216446e-17,4.278271342790716e-17,1.2303460277928376e-14],"object_angular_velocity_rad_s":[-2.8651728717705796e-16,-2.012218006842024e-15,1.884305628767907e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295187,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025077,-1.3097463880167193,-1.5707951084242981,-0.4491079361950233,0.0],"actuator_force":[1.9053914002142847e-09,-18.988043948668746,-20.286344739850392,-2.413325637869434,0.0006091875139873082,2.2168933355715126e-12,-0.2933611093928001],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.160000000000434,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.180000000000458,"qpos":[-2.019904262989917,-1.601477809228686,1.3356012191727094,-1.3049197367389334,-1.5707963267948983,-0.44910793619502615,0.0029336111721157496,0.00015630156470218914,0.00319347946466805,-0.003429298942353137,0.0029336110742616208,0.0001563011064962943,0.003197849389247528,-0.003437996890353836,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993443,3.3758623536781714e-17,6.301764456642611e-17,1.1452962266115973e-06],"qvel":[2.0719526835637247e-12,5.127363581615411e-14,8.924705890893577e-13,2.5407645132258897e-12,4.308620774824134e-12,1.4689201320914902e-14,1.0168915640385277e-09,5.2871179111747055e-09,-5.081836532751438e-09,-4.843487660848545e-10,-9.224865945481936e-10,-3.4017584868439897e-09,3.13054830088511e-09,3.706956385881153e-10,-8.735197962851003e-17,4.2887533414079446e-17,1.2664282760931549e-14,-7.235777700839843e-16,-1.886913918902131e-15,3.4402662316956445e-08],"joint_position_rad":[-2.019904262989917,-1.601477809228686,1.3356012191727094,-1.3049197367389334,-1.5707963267948983,-0.44910793619502615],"joint_velocity_rad_s":[2.0719526835637247e-12,5.127363581615411e-14,8.924705890893577e-13,2.5407645132258897e-12,4.308620774824134e-12,1.4689201320914902e-14],"linkage_position_rad":[0.0029336111721157496,0.00015630156470218914,0.00319347946466805,-0.003429298942353137,0.0029336110742616208,0.0001563011064962943,0.003197849389247528,-0.003437996890353836],"tcp_position_m":[0.08125537448652262,0.4772357226219451,0.4350000000000057],"tcp_quaternion_wxyz":[-1.3787889083695149e-15,0.707106781186545,0.7071067811865495,6.5423650215400316e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993443,3.3758623536781714e-17,6.301764456642611e-17,1.1452962266115973e-06],"object_linear_velocity_m_s":[-8.735197962851003e-17,4.2887533414079446e-17,1.2664282760931549e-14],"object_angular_velocity_rad_s":[-7.235734435953516e-16,-1.886915578641729e-15,3.440266231695645e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221290892,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025081,-1.3097463880167197,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-8.362803782802075e-10,-18.988043948648738,-20.286344740759432,-2.413325639147274,0.0006091848692904023,-8.526512829121202e-14,-0.2933611127908934],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.180000000000458,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.200000000000482,"qpos":[-2.019904262989919,-1.601477809228686,1.3356012191727082,-1.304919736738939,-1.57079632679491,-0.44910793619502615,0.002933611172263141,0.00015630156502425223,0.0031934794643214736,-0.0034292989419287415,0.002933611073840954,0.00015630110643690843,0.00319784938877366,-0.003437996890259221,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993441,3.831429639082384e-17,4.9301337549183925e-17,1.1456649713604036e-06],"qvel":[1.1194436807177945e-12,3.183709416172594e-14,3.174364615781556e-13,2.582331514091091e-12,5.6918691934994824e-12,2.040184647367611e-14,4.251949110410316e-10,2.4452563451064967e-09,-2.34495488930844e-09,-1.4402055460224684e-10,-2.7692281243296164e-10,-1.5862039253654738e-09,1.5680209760126285e-09,7.458643226695836e-11,-8.654447835261862e-17,8.191295156008942e-17,1.3211067600559438e-14,2.6170544435574793e-15,8.532415321818295e-17,6.281057363654725e-08],"joint_position_rad":[-2.019904262989919,-1.601477809228686,1.3356012191727082,-1.304919736738939,-1.57079632679491,-0.44910793619502615],"joint_velocity_rad_s":[1.1194436807177945e-12,3.183709416172594e-14,3.174364615781556e-13,2.582331514091091e-12,5.6918691934994824e-12,2.040184647367611e-14],"linkage_position_rad":[0.002933611172263141,0.00015630156502425223,0.0031934794643214736,-0.0034292989419287415,0.002933611073840954,0.00015630110643690843,0.00319784938877366,-0.003437996890259221],"tcp_position_m":[0.08125537448652716,0.477235722621945,0.4350000000000067],"tcp_quaternion_wxyz":[3.0541409544657844e-15,0.7071067811865461,0.7071067811865486,1.1622380283499634e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993441,3.831429639082384e-17,4.9301337549183925e-17,1.1456649713604036e-06],"object_linear_velocity_m_s":[-8.654447835261862e-17,8.191295156008942e-17,1.3211067600559438e-14],"object_angular_velocity_rad_s":[2.61705425423812e-15,8.53301449400885e-17,6.281057363654729e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295577,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.570795108424298,-0.44910793619502326,0.0],"actuator_force":[-4.5065462472848594e-10,-18.988043948640552,-20.28634474052842,-2.413325639148411,0.0006091847368452363,-6.252776074688882e-13,-0.29336111304656526],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.200000000000482,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.220000000000507,"qpos":[-2.019904262989922,-1.601477809228686,1.3356012191727078,-1.3049197367389438,-1.5707963267949208,-0.44910793619502615,0.002933611171565074,0.00015630155997061777,0.0031934794686497253,-0.0034292989412135952,0.0029336110742155903,0.0001563011097464935,0.003197849385867588,-0.0034379968906647733,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.999999999999344,4.11570983820267e-17,3.553839655495602e-17,1.1459571624449404e-06],"qvel":[-1.6267041279097002e-12,7.332545628962647e-14,-7.727760679650667e-13,-1.7671878895255006e-12,-2.823958376747333e-12,1.2158147165650233e-14,-6.9025340279021e-10,-3.41144356196352e-09,3.3946335303182843e-09,2.4047156470567574e-10,6.492884769901861e-10,2.207169495931983e-09,-2.1022283085057477e-09,-1.9665488791468497e-10,-3.1238750217092315e-17,1.5862933516912354e-16,1.277114172705172e-14,7.61670539908134e-15,-2.5138718297097513e-15,1.1467624581503036e-07],"joint_position_rad":[-2.019904262989922,-1.601477809228686,1.3356012191727078,-1.3049197367389438,-1.5707963267949208,-0.44910793619502615],"joint_velocity_rad_s":[-1.6267041279097002e-12,7.332545628962647e-14,-7.727760679650667e-13,-1.7671878895255006e-12,-2.823958376747333e-12,1.2158147165650233e-14],"linkage_position_rad":[0.002933611171565074,0.00015630155997061777,0.0031934794686497253,-0.0034292989412135952,0.0029336110742155903,0.0001563011097464935,0.003197849385867588,-0.0034379968906647733],"tcp_position_m":[0.08125537448653168,0.47723572262194475,0.4350000000000076],"tcp_quaternion_wxyz":[7.137049427618597e-15,0.7071067811865468,0.7071067811865475,1.6130329550851713e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.999999999999344,4.11570983820267e-17,3.553839655495602e-17,1.1459571624449404e-06],"object_linear_velocity_m_s":[-3.1238750217092315e-17,1.5862933516912354e-16,1.277114172705172e-14],"object_angular_velocity_rad_s":[7.616711168791032e-15,-2.5138543823064128e-15,1.146762458150305e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.309746388016719,-1.5707951084242981,-0.44910793619502365,0.0],"actuator_force":[6.552909326273948e-10,-18.98804394865647,-20.286344740092318,-2.413325638710944,0.0006091855937029322,2.842170943040401e-14,-0.2933611120842086],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.220000000000507,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.24000000000053,"qpos":[-2.019904262989915,-1.601477809228686,1.3356012191727098,-1.3049197367389314,-1.5707963267948943,-0.44910793619502615,0.0029336111731216525,0.0001563015696386992,0.0031934794599196136,-0.0034292989428426025,0.0029336110733124065,0.00015630110331578298,0.0031978493921266506,-0.0034379968899549834,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993439,5.4095428416815356e-17,1.736667243181291e-17,1.146392156761182e-06],"qvel":[1.6714807374576788e-12,6.593004263091109e-14,7.417171659388914e-13,1.7324741502847587e-12,2.5986611576313143e-12,1.4859658442383803e-14,1.1265178880633376e-09,5.350132666848961e-09,-5.2277494652402495e-09,-4.1058793105152265e-10,-1.0734587444307627e-09,-3.441777724698819e-09,3.1688489411969606e-09,3.8104147789471035e-10,-2.3516893025108935e-17,6.522168781137995e-17,1.2285419153778213e-14,-1.4512093160885575e-15,-1.2348532612632343e-15,1.2424232131080544e-08],"joint_position_rad":[-2.019904262989915,-1.601477809228686,1.3356012191727098,-1.3049197367389314,-1.5707963267948943,-0.44910793619502615],"joint_velocity_rad_s":[1.6714807374576788e-12,6.593004263091109e-14,7.417171659388914e-13,1.7324741502847587e-12,2.5986611576313143e-12,1.4859658442383803e-14],"linkage_position_rad":[0.0029336111731216525,0.0001563015696386992,0.0031934794599196136,-0.0034292989428426025,0.0029336110733124065,0.00015630110331578298,0.0031978493921266506,-0.0034379968899549834],"tcp_position_m":[0.0812553744865207,0.47723572262194514,0.4350000000000053],"tcp_quaternion_wxyz":[-2.8815937395970823e-15,0.7071067811865445,0.70710678118655,4.928537887849949e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993439,5.4095428416815356e-17,1.736667243181291e-17,1.146392156761182e-06],"object_linear_velocity_m_s":[-2.3516893025108935e-17,6.522168781137995e-17,1.2285419153778213e-14],"object_angular_velocity_rad_s":[-1.4512064844010223e-15,-1.2348565899141344e-15,1.242423213108057e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221306033,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.4491079361950229,0.0],"actuator_force":[-6.78028300171718e-10,-18.988043948653285,-20.28634474070168,-2.413325639067125,0.0006091850382290431,1.1368683772161603e-13,-0.29336111258699865],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.24000000000053,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.260000000000556,"qpos":[-2.0199042629899178,-1.601477809228686,1.3356012191727082,-1.3049197367389365,-1.5707963267949039,-0.44910793619502615,0.0029336111728413034,0.00015630156823511586,0.0031934794612476355,-0.0034292989422010835,0.0029336110733869047,0.00015630110436631991,0.003197849390748675,-0.0034379968900737526,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993426,5.9001364998446e-17,1.2974102341899199e-17,1.1468291935119375e-06],"qvel":[1.4632978756442964e-12,3.38026929310937e-14,5.288587890423367e-13,2.5450154425912815e-12,5.14699900615934e-12,1.8208787809174565e-14,6.945472188961011e-10,3.605768866210856e-09,-3.5402192681158983e-09,-2.0160785445349461e-10,-5.713254708274104e-10,-2.3348061708232265e-09,2.2588978823499632e-09,1.5989329240133965e-10,-1.548237281705296e-17,7.682989347867175e-17,1.2914082941472207e-14,-1.0683062038455333e-15,-6.328858548175947e-16,2.2683510361984697e-08],"joint_position_rad":[-2.0199042629899178,-1.601477809228686,1.3356012191727082,-1.3049197367389365,-1.5707963267949039,-0.44910793619502615],"joint_velocity_rad_s":[1.4632978756442964e-12,3.38026929310937e-14,5.288587890423367e-13,2.5450154425912815e-12,5.14699900615934e-12,1.8208787809174565e-14],"linkage_position_rad":[0.0029336111728413034,0.00015630156823511586,0.0031934794612476355,-0.0034292989422010835,0.0029336110733869047,0.00015630110436631991,0.003197849390748675,-0.0034379968900737526],"tcp_position_m":[0.08125537448652487,0.4772357226219453,0.4350000000000065],"tcp_quaternion_wxyz":[5.100981150862004e-16,0.7071067811865454,0.7071067811865491,9.535895917847647e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993426,5.9001364998446e-17,1.2974102341899199e-17,1.1468291935119375e-06],"object_linear_velocity_m_s":[-1.548237281705296e-17,7.682989347867175e-17,1.2914082941472207e-14],"object_angular_velocity_rad_s":[-1.0683047516301753e-15,-6.328883078221302e-16,2.2683510361984707e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221304585,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.309746388016719,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-5.89807314099744e-10,-18.988043948641007,-20.286344740613913,-2.4133256391457962,0.0006091847883453738,-4.263256414560601e-13,-0.2933611129275191],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.260000000000556,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.28000000000058,"qpos":[-2.019904262989921,-1.601477809228686,1.3356012191727074,-1.3049197367389425,-1.570796326794916,-0.44910793619502615,0.002933611171404246,0.00015630155979993137,0.003193479469035561,-0.0034292989413554982,0.0029336110745116087,0.00015630110985500283,0.003197849385781325,-0.0034379968906622523,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993424,4.737406576848121e-17,1.4998333821779857e-17,1.1472530067838864e-06],"qvel":[2.7180351666486713e-13,4.27045709594221e-14,-9.425719038237419e-14,1.7509155958168992e-12,4.462045416201672e-12,2.1690578843331906e-14,-4.015817207650887e-11,2.53980590782174e-10,-1.0359893802781099e-10,-8.145596759960346e-11,1.7704344050599177e-10,-1.797928430774894e-10,2.1927138911225066e-10,-2.0956187179328796e-11,-3.038449793762774e-17,6.744044561614854e-17,1.2900205153664395e-14,-1.4622386692202521e-15,4.1953873466771713e-16,4.141436162121192e-08],"joint_position_rad":[-2.019904262989921,-1.601477809228686,1.3356012191727074,-1.3049197367389425,-1.570796326794916,-0.44910793619502615],"joint_velocity_rad_s":[2.7180351666486713e-13,4.27045709594221e-14,-9.425719038237419e-14,1.7509155958168992e-12,4.462045416201672e-12,2.1690578843331906e-14],"linkage_position_rad":[0.002933611171404246,0.00015630155979993137,0.003193479469035561,-0.0034292989413554982,0.0029336110745116087,0.00015630110985500283,0.003197849385781325,-0.0034379968906622523],"tcp_position_m":[0.08125537448652982,0.47723572262194514,0.4350000000000077],"tcp_quaternion_wxyz":[5.125007617449194e-15,0.7071067811865461,0.7071067811865479,1.4922382385674994e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993424,4.737406576848121e-17,1.4998333821779857e-17,1.1472530067838864e-06],"object_linear_velocity_m_s":[-3.038449793762774e-17,6.744044561614854e-17,1.2900205153664395e-14],"object_angular_velocity_rad_s":[-1.4622396306082567e-15,4.195353756272614e-16,4.141436162121197e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281321,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.570795108424298,-0.44910793619502304,0.0],"actuator_force":[-1.0686562745831907e-10,-18.988043948644645,-20.286344740362438,-2.4133256390633733,0.0006091848628102525,-6.252776074688882e-13,-0.29336111298021905],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502287],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.28000000000058,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.300000000000605,"qpos":[-2.0199042629899195,-1.601477809228686,1.335601219172708,-1.3049197367389425,-1.570796326794918,-0.44910793619502615,0.002933611171153225,0.000156301559274862,0.0031934794698570187,-0.003429298942045363,0.002933611074646108,0.0001563011100742021,0.0031978493853774153,-0.003437996890329059,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993422,3.1394706234563804e-17,3.284628702981823e-17,1.147634920217897e-06],"qvel":[-5.179031254565661e-12,1.0833259338240201e-13,-1.5107437885289907e-12,-1.110011902283515e-11,-2.3991296777787385e-11,-7.962284036564543e-15,-1.8632156947620566e-09,-1.0015344832976946e-08,9.513882516660532e-09,8.720634132725162e-10,1.2250325145487829e-09,6.533153667820838e-09,-6.516158848767292e-09,-4.027215612804874e-10,-8.998243623792688e-17,5.1543690083982277e-17,1.2511627095045591e-14,-1.1699342059466022e-15,5.719971965539201e-15,7.561216589149866e-08],"joint_position_rad":[-2.0199042629899195,-1.601477809228686,1.335601219172708,-1.3049197367389425,-1.570796326794918,-0.44910793619502615],"joint_velocity_rad_s":[-5.179031254565661e-12,1.0833259338240201e-13,-1.5107437885289907e-12,-1.110011902283515e-11,-2.3991296777787385e-11,-7.962284036564543e-15],"linkage_position_rad":[0.002933611171153225,0.000156301559274862,0.0031934794698570187,-0.003429298942045363,0.002933611074646108,0.0001563011100742021,0.0031978493853774153,-0.003437996890329059],"tcp_position_m":[0.08125537448652945,0.4772357226219451,0.4350000000000073],"tcp_quaternion_wxyz":[6.198819012764313e-15,0.7071067811865458,0.7071067811865487,1.484556296473235e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993422,3.1394706234563804e-17,3.284628702981823e-17,1.147634920217897e-06],"object_linear_velocity_m_s":[-8.998243623792688e-17,5.1543690083982277e-17,1.2511627095045591e-14],"object_angular_velocity_rad_s":[-1.1699473298554995e-15,5.719969275461806e-15,7.561216589149878e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279274,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025075,-1.3097463880167193,-1.5707951084242981,-0.44910793619502287,0.0],"actuator_force":[2.0709194359369576e-09,-18.988043948670565,-20.286344739796732,-2.413325637778371,0.0006091877090739217,2.4158453015843406e-12,-0.2933611090990507],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950231],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.300000000000605,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.32000000000063,"qpos":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.3049197367389342,-1.5707963267948999,-0.44910793619502615,0.002933611173605699,0.0001563015720407849,0.003193479457519053,-0.003429298942473806,0.0029336110727106323,0.00015630110188775428,0.0031978493930988772,-0.0034379968898463334,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993422,1.9871046846537158e-17,4.175914837591569e-17,1.1479217351739306e-06],"qvel":[1.4478564540425595e-12,3.988161646882272e-14,5.825883069321044e-13,2.0791780970147392e-12,3.8772180786664534e-12,1.7176020323677293e-14,8.722180669770248e-10,4.175999136999815e-09,-4.168368369931477e-09,-1.989597271021193e-10,-7.860049065557169e-10,-2.7010382592876222e-09,2.594022405867805e-09,2.0696497706400338e-10,-4.7204512773257365e-17,2.4825402828734092e-17,1.2196601311808204e-14,-9.20494201030641e-16,-1.3529020273288114e-15,8.19195897365715e-09],"joint_position_rad":[-2.019904262989916,-1.601477809228686,1.335601219172709,-1.3049197367389342,-1.5707963267948999,-0.44910793619502615],"joint_velocity_rad_s":[1.4478564540425595e-12,3.988161646882272e-14,5.825883069321044e-13,2.0791780970147392e-12,3.8772180786664534e-12,1.7176020323677293e-14],"linkage_position_rad":[0.002933611173605699,0.0001563015720407849,0.003193479457519053,-0.003429298942473806,0.0029336110727106323,0.00015630110188775428,0.0031978493930988772,-0.0034379968898463334],"tcp_position_m":[0.08125537448652277,0.4772357226219454,0.43500000000000616],"tcp_quaternion_wxyz":[-9.41899764222871e-16,0.707106781186545,0.7071067811865497,7.62633956481098e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993411,1.9871046846537137e-17,4.1759148375915643e-17,1.1479217351739293e-06],"object_linear_velocity_m_s":[-4.7204512773257365e-17,2.4825402828734092e-17,1.2196601311808204e-14],"object_angular_velocity_rad_s":[-9.204910942927508e-16,-1.3529041409614116e-15,8.191958973657148e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221315675,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025077,-1.3097463880167193,-1.5707951084242981,-0.4491079361950231,0.0],"actuator_force":[-5.884430720470846e-10,-18.988043948643735,-20.286344740635286,-2.413325639100435,0.0006091849131735216,-1.9895196601282805e-13,-0.29336111274688237],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502376],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.32000000000063,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.340000000000654,"qpos":[-2.0199042629899195,-1.601477809228686,1.3356012191727076,-1.3049197367389391,-1.57079632679491,-0.44910793619502615,0.0029336111716791458,0.00015630156185989186,0.0031934794672274485,-0.003429298941664248,0.0029336110743999116,0.0001563011084921332,0.003197849387076307,-0.0034379968905325553,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993409,1.7497322751884774e-19,5.53348300032088e-17,1.1483872870887375e-06],"qvel":[1.25493562652707e-12,3.005282950622745e-14,3.7082715124080946e-13,2.833614091245848e-12,6.205157383919669e-12,1.8596313706671067e-14,3.9342618542296714e-10,2.4928918038151748e-09,-2.3120725710743e-09,-2.4420478040831407e-10,-2.2911975235127896e-10,-1.6239743969940685e-09,1.5735179412709401e-09,1.1613602102985641e-10,-6.717196708685167e-17,3.731064197378059e-18,1.3063963049796609e-14,-9.123748273053521e-16,-1.6487985587386605e-15,1.4956448358653015e-08],"joint_position_rad":[-2.0199042629899195,-1.601477809228686,1.3356012191727076,-1.3049197367389391,-1.57079632679491,-0.44910793619502615],"joint_velocity_rad_s":[1.25493562652707e-12,3.005282950622745e-14,3.7082715124080946e-13,2.833614091245848e-12,6.205157383919669e-12,1.8596313706671067e-14],"linkage_position_rad":[0.0029336111716791458,0.00015630156185989186,0.0031934794672274485,-0.003429298941664248,0.0029336110743999116,0.0001563011084921332,0.003197849387076307,-0.0034379968905325553],"tcp_position_m":[0.08125537448652728,0.47723572262194525,0.43500000000000716],"tcp_quaternion_wxyz":[2.8845897056503892e-15,0.7071067811865457,0.7071067811865486,1.206739675428021e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993409,1.7497322751884774e-19,5.53348300032088e-17,1.1483872870887375e-06],"object_linear_velocity_m_s":[-6.717196708685167e-17,3.731064197378059e-18,1.3063963049796609e-14],"object_angular_velocity_rad_s":[-9.123710387291134e-16,-1.64880065425885e-15,1.4956448358653022e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221286024,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.325458046802508,-1.3097463880167193,-1.570795108424298,-0.44910793619502376,0.0],"actuator_force":[-5.029505700804293e-10,-18.988043948640097,-20.28634474054752,-2.413325639173422,0.0006091846855724725,-6.536993168992922e-13,-0.293361113125485],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.340000000000654,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.360000000000678,"qpos":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.3049197367389442,-1.5707963267949219,-0.44910793619502615,0.002933611170265322,0.00015630155508385837,0.003193479474125869,-0.0034292989418700385,0.0029336110754877836,0.00015630111275041455,0.003197849382777839,-0.0034379968905231865,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993406,-1.1901667831843084e-17,6.211732647694324e-17,1.1488525399774597e-06],"qvel":[-1.7646210814236153e-12,7.29245016827552e-14,-8.362081322058278e-13,-1.920374505308229e-12,-3.058132726061847e-12,1.5497746409635783e-14,-7.644321529076489e-10,-3.744973235429021e-09,3.748616078801322e-09,2.4606524643585415e-10,7.199738555544667e-10,2.4076905122830917e-09,-2.3032934122974916e-09,-2.0605543081960606e-10,-8.361870124414832e-17,-1.2677107798840439e-17,1.3095881961754583e-14,-3.835397377691208e-16,-9.230771168524682e-16,2.7306697729306022e-08],"joint_position_rad":[-2.0199042629899218,-1.601477809228686,1.3356012191727071,-1.3049197367389442,-1.5707963267949219,-0.44910793619502615],"joint_velocity_rad_s":[-1.7646210814236153e-12,7.29245016827552e-14,-8.362081322058278e-13,-1.920374505308229e-12,-3.058132726061847e-12,1.5497746409635783e-14],"linkage_position_rad":[0.002933611170265322,0.00015630155508385837,0.003193479474125869,-0.0034292989418700385,0.0029336110754877836,0.00015630111275041455,0.003197849382777839,-0.0034379968905231865],"tcp_position_m":[0.08125537448653167,0.4772357226219449,0.43500000000000805],"tcp_quaternion_wxyz":[7.531433655046054e-15,0.7071067811865465,0.7071067811865478,1.6603218401213358e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993406,-1.1901667831843084e-17,6.211732647694324e-17,1.1488525399774597e-06],"object_linear_velocity_m_s":[-8.361870124414832e-17,-1.2677107798840439e-17,1.3095881961754583e-14],"object_angular_velocity_rad_s":[-3.8353761341669084e-16,-9.23077997461242e-16,2.7306697729306052e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221266104,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025077,-1.3097463880167193,-1.5707951084242981,-0.4491079361950229,0.0],"actuator_force":[7.084963726811111e-10,-18.988043948656923,-20.286344740064123,-2.4133256386954827,0.000609185617690855,2.842170943040401e-14,-0.2933611120653638],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.360000000000678,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.380000000000702,"qpos":[-2.0199042629899155,-1.601477809228686,1.3356012191727096,-1.3049197367389325,-1.5707963267948981,-0.44910793619502615,0.002933611174484659,0.00015630157606195486,0.003193479453517233,-0.0034292989427060325,0.002933611071886157,0.0001563010992772357,0.0031978493955725808,-0.0034379968896015166,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993404,-1.4583607814124676e-17,4.586097353595274e-17,1.149241943787551e-06],"qvel":[1.2511209412348925e-12,4.802805493501525e-14,5.311909072499225e-13,1.4949544354207038e-12,2.540466386967697e-12,1.6786696857254782e-14,9.832395854493863e-10,4.362665402955348e-09,-4.420858124836188e-09,-1.5769525368628485e-10,-9.312417610886953e-10,-2.8214008371510152e-09,2.707919946474476e-09,2.2299268287055133e-10,-6.24243302066416e-17,-2.5755061307271884e-17,1.2499137086018563e-14,-3.4462621220720553e-16,-1.6198958961262048e-15,4.985513425370122e-08],"joint_position_rad":[-2.0199042629899155,-1.601477809228686,1.3356012191727096,-1.3049197367389325,-1.5707963267948981,-0.44910793619502615],"joint_velocity_rad_s":[1.2511209412348925e-12,4.802805493501525e-14,5.311909072499225e-13,1.4949544354207038e-12,2.540466386967697e-12,1.6786696857254782e-14],"linkage_position_rad":[0.002933611174484659,0.00015630157606195486,0.003193479453517233,-0.0034292989427060325,0.002933611071886157,0.0001563010992772357,0.0031978493955725808,-0.0034379968896015166],"tcp_position_m":[0.0812553744865217,0.47723572262194497,0.4350000000000055],"tcp_quaternion_wxyz":[-1.3505691011888281e-15,0.7071067811865442,0.70710678118655,5.969486373002279e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993404,-1.4583607814124676e-17,4.586097353595274e-17,1.149241943787551e-06],"object_linear_velocity_m_s":[-6.24243302066416e-17,-2.5755061307271884e-17,1.2499137086018563e-14],"object_angular_velocity_rad_s":[-3.446224843288707e-16,-1.6198966867855839e-15,4.98551342537013e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221327738,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.325458046802508,-1.3097463880167202,-1.5707951084242984,-0.4491079361950228,0.0],"actuator_force":[-5.097717803437263e-10,-18.98804394864692,-20.286344740615732,-2.4133256390433644,0.0006091850457323744,-2.842170943040401e-14,-0.2933611125785299],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950228],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.380000000000702,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.400000000000727,"qpos":[-2.0199042629899187,-1.601477809228686,1.3356012191727085,-1.304919736738936,-1.570796326794905,-0.44910793619502615,0.0029336111722468457,0.00015630156520622594,0.003193479464101407,-0.003429298942038766,0.002933611073969537,0.0001563011063094381,0.003197849389128461,-0.003437996890303893,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993402,-1.1454473908777638e-17,3.2983369424327915e-17,1.1495751747780624e-06],"qvel":[1.622268718688923e-12,3.4839340443170386e-14,5.949082045991937e-13,2.7901283707907148e-12,5.6193066561168725e-12,2.102561433978159e-14,6.860851255868894e-10,3.768880939750186e-09,-3.6207174008348948e-09,-3.04501208785277e-10,-5.489045720277045e-10,-2.442378844829144e-09,2.3222575238469675e-09,2.0825845677727784e-10,-6.692465536989913e-17,-2.857040842554743e-17,1.219798909058899e-14,2.3184663989786965e-16,6.327343031351203e-16,9.10228851578648e-08],"joint_position_rad":[-2.0199042629899187,-1.601477809228686,1.3356012191727085,-1.304919736738936,-1.570796326794905,-0.44910793619502615],"joint_velocity_rad_s":[1.622268718688923e-12,3.4839340443170386e-14,5.949082045991937e-13,2.7901283707907148e-12,5.6193066561168725e-12,2.102561433978159e-14],"linkage_position_rad":[0.0029336111722468457,0.00015630156520622594,0.003193479464101407,-0.003429298942038766,0.002933611073969537,0.0001563011063094381,0.003197849389128461,-0.003437996890303893],"tcp_position_m":[0.08125537448652544,0.4772357226219451,0.4350000000000065],"tcp_quaternion_wxyz":[1.115028014622066e-15,0.7071067811865458,0.7071067811865489,9.415235795325021e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993402,-1.1454473908777638e-17,3.2983369424327915e-17,1.1495751747780624e-06],"object_linear_velocity_m_s":[-6.692465536989913e-17,-2.857040842554743e-17,1.219798909058899e-14],"object_angular_velocity_rad_s":[2.3184519115044357e-16,6.327348382689778e-16,9.102288515786498e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221295056,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025072,-1.3097463880167193,-1.5707951084242981,-0.4491079361950228,0.0],"actuator_force":[-6.52562448522076e-10,-18.98804394864146,-20.28634474064029,-2.41332563917058,0.0006091847415063967,-4.547473508864641e-13,-0.2933611129967219],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.400000000000727,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.42000000000075,"qpos":[-2.019904262989922,-1.601477809228686,1.3356012191727074,-1.3049197367389422,-1.5707963267949179,-0.44910793619502615,0.00293361117008385,0.0001563015548715885,0.003193479474600709,-0.003429298942042454,0.002933611075818747,0.00015630111284908952,0.0031978493826964253,-0.00343799689052389,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993391,-6.231960707495012e-18,2.5711131224085706e-17,1.149920446263103e-06],"qvel":[3.116778362972427e-13,4.00959372962599e-14,-9.532730146723992e-14,1.9107878177436806e-12,4.877150677158224e-12,2.0976105056080075e-14,-5.422356034141882e-11,2.5723198976711627e-10,-7.164204929112904e-11,-1.0321505973885975e-10,2.058287430968657e-10,-1.846131285556126e-10,2.156174973295536e-10,-1.7815426933589985e-11,-3.2923563692229626e-17,-1.0084653342926237e-17,1.3043146368084892e-14,6.840544985438808e-16,-1.2147401014078105e-15,9.861584205206127e-09],"joint_position_rad":[-2.019904262989922,-1.601477809228686,1.3356012191727074,-1.3049197367389422,-1.5707963267949179,-0.44910793619502615],"joint_velocity_rad_s":[3.116778362972427e-13,4.00959372962599e-14,-9.532730146723992e-14,1.9107878177436806e-12,4.877150677158224e-12,2.0976105056080075e-14],"linkage_position_rad":[0.00293361117008385,0.0001563015548715885,0.003193479474600709,-0.003429298942042454,0.002933611075818747,0.00015630111284908952,0.0031978493826964253,-0.00343799689052389],"tcp_position_m":[0.08125537448653092,0.4772357226219448,0.4350000000000075],"tcp_quaternion_wxyz":[6.037047662983236e-15,0.7071067811865469,0.7071067811865476,1.506284546574468e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993391,-6.231960707495012e-18,2.5711131224085706e-17,1.149920446263103e-06],"object_linear_velocity_m_s":[-3.2923563692229626e-17,-1.0084653342926237e-17,1.3043146368084892e-14],"object_angular_velocity_rad_s":[6.840572927581359e-16,-1.2147385280651756e-15,9.861584205206132e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263595,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.325458046802508,-1.3097463880167193,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-1.2005330063402653e-10,-18.98804394864419,-20.28634474036062,-2.4133256390796305,0.0006091848222240515,-7.105427357601002e-13,-0.29336111305315576],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.42000000000075,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.440000000000776,"qpos":[-2.019904262989922,-1.601477809228686,1.3356012191727078,-1.3049197367389436,-1.5707963267949239,-0.44910793619502615,0.002933611172362646,0.00015630156412703075,0.0031934794648129155,-0.0034292989416299102,0.002933611073346406,0.00015630110707991898,0.003197849387971036,-0.003437996890169281,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993389,-1.1899794593337924e-18,1.9098564240476756e-17,1.1504182981583483e-06],"qvel":[-5.7504263332752635e-12,9.386402402589395e-14,-1.7476770286104975e-12,-1.1793924165210526e-11,-2.513273390298308e-11,-8.67100337142215e-15,-2.0255140614467685e-09,-1.1629807867640172e-08,1.0910686753416833e-08,1.1480906099849854e-09,1.3610829980454003e-09,7.612047458537882e-09,-7.384582469271008e-09,-5.897141237820493e-10,-2.43959667374579e-17,-2.7073597586004897e-18,1.2646241636781398e-14,2.3134400440514666e-16,-1.1845244098601221e-15,1.800476239853853e-08],"joint_position_rad":[-2.019904262989922,-1.601477809228686,1.3356012191727078,-1.3049197367389436,-1.5707963267949239,-0.44910793619502615],"joint_velocity_rad_s":[-5.7504263332752635e-12,9.386402402589395e-14,-1.7476770286104975e-12,-1.1793924165210526e-11,-2.513273390298308e-11,-8.67100337142215e-15],"linkage_position_rad":[0.002933611172362646,0.00015630156412703075,0.0031934794648129155,-0.0034292989416299102,0.002933611073346406,0.00015630110707991898,0.003197849387971036,-0.003437996890169281],"tcp_position_m":[0.08125537448653233,0.4772357226219443,0.4350000000000077],"tcp_quaternion_wxyz":[8.649259465740966e-15,0.7071067811865468,0.7071067811865475,1.642687341365967e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993389,-1.1899794593337924e-18,1.9098564240476756e-17,1.1504182981583483e-06],"object_linear_velocity_m_s":[-2.43959667374579e-17,-2.7073597586004897e-18,1.2646241636781398e-14],"object_angular_velocity_rad_s":[2.3134673048937617e-16,-1.1845238775293851e-15,1.800476239853855e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221296671,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.325458046802507,-1.309746388016719,-1.5707951084242984,-0.44910793619502304,0.0],"actuator_force":[2.3046595742926e-09,-18.988043948665563,-20.2863447397026,-2.41332563770834,0.0006091878260576777,2.4158453015843406e-12,-0.29336110896329726],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389325,-1.5707963267948968,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.440000000000776,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389325,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.4600000000008,"qpos":[-2.0199042629899173,-1.601477809228686,1.3356012191727091,-1.3049197367389336,-1.5707963267949012,-0.44910793619502615,0.0029336111730106237,0.00015630156921297552,0.0031934794602543138,-0.0034292989424062692,0.0029336110733038634,0.00015630110371198135,0.0031978493915352595,-0.0034379968900287486,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993386,4.9487087243874726e-18,5.1031087175267315e-17,1.1508541580056868e-06],"qvel":[1.614504794732056e-12,4.2813533546123246e-14,6.488853561254972e-13,2.2859831016564555e-12,4.257964573477667e-12,1.8184438378635587e-14,8.807218052395085e-10,4.403839330767742e-09,-4.3170862628785e-09,-2.991572309402161e-10,-7.840659041878458e-10,-2.8488083577320626e-09,2.691530305943646e-09,2.59765030483715e-10,-7.306132120468814e-17,9.265489577911829e-18,1.2418645916733243e-14,4.206318100079986e-16,2.03188563692592e-15,3.28721493709528e-08],"joint_position_rad":[-2.0199042629899173,-1.601477809228686,1.3356012191727091,-1.3049197367389336,-1.5707963267949012,-0.44910793619502615],"joint_velocity_rad_s":[1.614504794732056e-12,4.2813533546123246e-14,6.488853561254972e-13,2.2859831016564555e-12,4.257964573477667e-12,1.8184438378635587e-14],"linkage_position_rad":[0.0029336111730106237,0.00015630156921297552,0.0031934794602543138,-0.0034292989424062692,0.0029336110733038634,0.00015630110371198135,0.0031978493915352595,-0.0034379968900287486],"tcp_position_m":[0.08125537448652365,0.47723572262194486,0.4350000000000059],"tcp_quaternion_wxyz":[-2.1479924873820865e-16,0.7071067811865452,0.7071067811865492,7.32730083037793e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993386,4.9487087243874726e-18,5.1031087175267315e-17,1.1508541580056868e-06],"object_linear_velocity_m_s":[-7.306132120468814e-17,9.265489577911829e-18,1.2418645916733243e-14],"object_angular_velocity_rad_s":[4.2062713655382077e-16,2.0318866047669304e-15,3.287214937095286e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221306789,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025077,-1.3097463880167197,-1.5707951084242981,-0.4491079361950229,0.0],"actuator_force":[-6.511982064694166e-10,-18.988043948644645,-20.28634474066257,-2.4133256391216946,0.000609184875770552,-2.2737367544323206e-13,-0.2933611127990039],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.4600000000008,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.480000000000825,"qpos":[-2.0199042629899204,-1.601477809228686,1.335601219172708,-1.3049197367389387,-1.5707963267949108,-0.44910793619502615,0.0029336111703659965,0.00015630155708986013,0.0031934794726711374,-0.003429298942390072,0.002933611075716566,0.0001563011114129085,0.0031978493840427295,-0.0034379968903724975,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993373,2.0517220268109687e-17,6.689864978075115e-17,1.1512614814328002e-06],"qvel":[1.3812544520597124e-12,3.102905620605626e-14,4.065339607246918e-13,3.0957810763872156e-12,6.771959901986333e-12,2.172560198971756e-14,4.1939729511779033e-10,2.703395278884582e-09,-2.4866685975405232e-09,-2.7899275093571967e-10,-2.377716340799197e-10,-1.7541490734996835e-09,1.688540861701419e-09,1.3085722270513602e-10,-1.0995475420550198e-16,4.728138998659956e-17,1.2271541365970413e-14,2.76221373661268e-15,2.589464887367155e-15,6.001624349977368e-08],"joint_position_rad":[-2.0199042629899204,-1.601477809228686,1.335601219172708,-1.3049197367389387,-1.5707963267949108,-0.44910793619502615],"joint_velocity_rad_s":[1.3812544520597124e-12,3.102905620605626e-14,4.065339607246918e-13,3.0957810763872156e-12,6.771959901986333e-12,2.172560198971756e-14],"linkage_position_rad":[0.0029336111703659965,0.00015630155708986013,0.0031934794726711374,-0.003429298942390072,0.002933611075716566,0.0001563011114129085,0.0031978493840427295,-0.0034379968903724975],"tcp_position_m":[0.08125537448652795,0.4772357226219449,0.4350000000000069],"tcp_quaternion_wxyz":[3.2993537396591206e-15,0.7071067811865464,0.7071067811865481,1.1946097691627156e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993373,2.0517220268109687e-17,6.689864978075115e-17,1.1512614814328002e-06],"object_linear_velocity_m_s":[-1.0995475420550198e-16,4.728138998659956e-17,1.2271541365970413e-14],"object_angular_velocity_rad_s":[2.7622077823330076e-15,2.589471244958124e-15,6.001624349977368e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221268913,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025075,-1.309746388016719,-1.570795108424298,-0.4491079361950232,0.0],"actuator_force":[-5.51608536625281e-10,-18.988043948639643,-20.28634474056389,-2.4133256391997975,0.000609184629183801,-7.105427357601002e-13,-0.2933611132122564],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.44910793619502337],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.480000000000825,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.50000000000085,"qpos":[-2.019904262989924,-1.601477809228686,1.3356012191727071,-1.3049197367389456,-1.5707963267949265,-0.44910793619502615,0.002933611171341866,0.0001563015587824469,0.0031934794700686736,-0.0034292989412475,0.0029336110743212697,0.00015630111053243267,0.0031978493847761857,-0.003437996890510423,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993372,2.0366628534682988e-17,6.022397030686863e-17,1.151540673458326e-06],"qvel":[-2.0450021343126933e-12,5.8708052621775e-14,-9.838559384427594e-13,-2.049769649351726e-12,-3.03578199181179e-12,1.4374281109744548e-14,-9.045614495609354e-10,-4.934050626572586e-09,4.7835576626785724e-09,4.54266944848215e-10,8.612079363423337e-10,3.1895506864800603e-09,-2.9102479435390466e-09,-3.6693877042684596e-10,-1.4264193896572583e-16,-1.1205449957599886e-17,1.3102820855658499e-14,-3.946206277574859e-15,3.861670365552439e-15,1.0957450464150698e-07],"joint_position_rad":[-2.019904262989924,-1.601477809228686,1.3356012191727071,-1.3049197367389456,-1.5707963267949265,-0.44910793619502615],"joint_velocity_rad_s":[-2.0450021343126933e-12,5.8708052621775e-14,-9.838559384427594e-13,-2.049769649351726e-12,-3.03578199181179e-12,1.4374281109744548e-14],"linkage_position_rad":[0.002933611171341866,0.0001563015587824469,0.0031934794700686736,-0.0034292989412475,0.0029336110743212697,0.00015630111053243267,0.0031978493847761857,-0.003437996890510423],"tcp_position_m":[0.08125537448653393,0.47723572262194447,0.43500000000000827],"tcp_quaternion_wxyz":[9.518391459321429e-15,0.7071067811865477,0.7071067811865466,1.8054113108826947e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993372,2.0366628534682988e-17,6.022397030686863e-17,1.151540673458326e-06],"object_linear_velocity_m_s":[-1.4264193896572583e-16,-1.1205449957599886e-17,1.3102820855658499e-14],"object_angular_velocity_rad_s":[-3.946215158107353e-15,3.861661272644819e-15,1.0957450464150703e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128019,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.3097463880167188,-1.5707951084242984,-0.44910793619502337,0.0],"actuator_force":[8.262759365607053e-10,-18.98804394865101,-20.28634474000637,-2.413325638681613,0.0006091856175771682,-8.526512829121202e-14,-0.29336111206638926],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.50000000000085,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.520000000000874,"qpos":[-2.0199042629899155,-1.601477809228686,1.3356012191727098,-1.3049197367389316,-1.5707963267948974,-0.44910793619502615,0.002933611173906167,0.00015630157347292544,0.003193479456085147,-0.0034292989427311044,0.0029336110724696904,0.00015630110095377376,0.0031978493941132373,-0.003437996889725892,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993371,1.5267201692670862e-18,5.669521807095441e-17,1.1519563156550626e-06],"qvel":[1.390266552020478e-12,5.0313559959800385e-14,5.946960455279788e-13,1.655983672878063e-12,2.8070165261717146e-12,1.1176966103129935e-14,1.0041337319626967e-09,4.620995461304139e-09,-4.60599865457541e-09,-2.5130080390615483e-10,-9.447586130409543e-10,-2.988382216345108e-09,2.821979930182667e-09,2.7626954845212735e-10,-6.83310422160706e-17,3.320163401816368e-18,1.2675384991177814e-14,-6.692749363424855e-16,-2.1127130654474547e-15,1.1871500253942256e-08],"joint_position_rad":[-2.0199042629899155,-1.601477809228686,1.3356012191727098,-1.3049197367389316,-1.5707963267948974,-0.44910793619502615],"joint_velocity_rad_s":[1.390266552020478e-12,5.0313559959800385e-14,5.946960455279788e-13,1.655983672878063e-12,2.8070165261717146e-12,1.1176966103129935e-14],"linkage_position_rad":[0.002933611173906167,0.00015630157347292544,0.003193479456085147,-0.0034292989427311044,0.0029336110724696904,0.00015630110095377376,0.0031978493941132373,-0.003437996889725892],"tcp_position_m":[0.08125537448652148,0.4772357226219448,0.4350000000000052],"tcp_quaternion_wxyz":[-1.4644955865382508e-15,0.7071067811865445,0.70710678118655,5.430519093453586e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993371,1.5267201692670862e-18,5.669521807095441e-17,1.1519563156550626e-06],"object_linear_velocity_m_s":[-6.83310422160706e-17,3.320163401816368e-18,1.2675384991177814e-14],"object_angular_velocity_rad_s":[-6.692700674882775e-16,-2.112714607429077e-15,1.1871500253942269e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322131948,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025081,-1.30974638801672,-1.5707951084242984,-0.449107936195024,0.0],"actuator_force":[-5.657057045027614e-10,-18.988043948647828,-20.286344740641198,-2.413325639059849,0.0006091850187885939,-2.842170943040401e-14,-0.29336111261566844],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.520000000000874,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.540000000000898,"qpos":[-2.0199042629899187,-1.6014778092286859,1.3356012191727087,-1.3049197367389354,-1.5707963267949039,-0.44910793619502615,0.00293361117097816,0.00015630156073648046,0.0031934794692719303,-0.003429298942808637,0.0029336110752560874,0.00015630110905127893,0.003197849386241998,-0.0034379968901212875,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993369,-1.6484645594485323e-17,1.5621878685230984e-17,1.1524278917279872e-06],"qvel":[1.7760984955900433e-12,3.541862874983371e-14,6.519093888786703e-13,3.049517078580567e-12,6.130611153466507e-12,1.971087161834461e-14,7.389109632125224e-10,4.097567631315582e-09,-3.918539928746666e-09,-3.430009548454511e-10,-5.874812858436707e-10,-2.6437308054090128e-09,2.502374699073946e-09,2.307527525865163e-10,-2.2267214172413394e-17,-1.9410710240209082e-17,1.2399217013802305e-14,-5.074382653995106e-16,-2.7352422058260563e-15,2.1674361536513195e-08],"joint_position_rad":[-2.0199042629899187,-1.6014778092286859,1.3356012191727087,-1.3049197367389354,-1.5707963267949039,-0.44910793619502615],"joint_velocity_rad_s":[1.7760984955900433e-12,3.541862874983371e-14,6.519093888786703e-13,3.049517078580567e-12,6.130611153466507e-12,1.971087161834461e-14],"linkage_position_rad":[0.00293361117097816,0.00015630156073648046,0.0031934794692719303,-0.003429298942808637,0.0029336110752560874,0.00015630110905127893,0.003197849386241998,-0.0034379968901212875],"tcp_position_m":[0.08125537448652513,0.47723572262194497,0.43500000000000605],"tcp_quaternion_wxyz":[8.810793521148849e-16,0.7071067811865458,0.7071067811865489,8.53420173369354e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993369,-1.6484645594485323e-17,1.5621878685230984e-17,1.1524278917279872e-06],"object_linear_velocity_m_s":[-2.2267214172413394e-17,-1.9410710240209082e-17,1.2399217013802305e-14],"object_angular_velocity_rad_s":[-5.074319603821587e-16,-2.7352433746762275e-15,2.1674361536513235e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221279016,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029995,1.3254580468025068,-1.3097463880167188,-1.5707951084242977,-0.44910793619502315,0.0],"actuator_force":[-7.139533408917487e-10,-18.98804394864146,-20.28634474066439,-2.4133256391966142,0.0006091846900062592,-4.831690603168681e-13,-0.29336111306886076],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.540000000000898,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.560000000000922,"qpos":[-2.019904262989924,-1.6014778092286859,1.335601219172707,-1.3049197367389433,-1.5707963267949203,-0.44910793619502615,0.002933611171040654,0.00015630155772016768,0.0031934794712765624,-0.003429298941259647,0.0029336110747810677,0.00015630111119215595,0.0031978493842617804,-0.0034379968906445907,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993356,-3.405514127412018e-17,2.4959011830407076e-18,1.152832850305102e-06],"qvel":[2.2131249877058494e-13,2.4770341585103296e-14,-1.6381068359489422e-13,2.0390670080643312e-12,5.355174806513859e-12,2.248990731587972e-14,-1.8107251632421564e-10,-6.249682707607677e-10,7.027241489277514e-10,5.053695512580615e-11,3.428362298884268e-10,3.8537859844141314e-10,-2.153003618156021e-10,-1.5047206253836175e-10,-1.5959682462632457e-17,-5.068977814494593e-17,1.2662894982150781e-14,-1.4037965941444396e-15,-5.286040015516271e-16,3.9571910707701013e-08],"joint_position_rad":[-2.019904262989924,-1.6014778092286859,1.335601219172707,-1.3049197367389433,-1.5707963267949203,-0.44910793619502615],"joint_velocity_rad_s":[2.2131249877058494e-13,2.4770341585103296e-14,-1.6381068359489422e-13,2.0390670080643312e-12,5.355174806513859e-12,2.248990731587972e-14],"linkage_position_rad":[0.002933611171040654,0.00015630155772016768,0.0031934794712765624,-0.003429298941259647,0.0029336110747810677,0.00015630111119215595,0.0031978493842617804,-0.0034379968906445907],"tcp_position_m":[0.08125537448653244,0.4772357226219449,0.43500000000000805],"tcp_quaternion_wxyz":[6.893811367416491e-15,0.7071067811865477,0.7071067811865466,1.6076618416046314e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993356,-3.405514127412018e-17,2.4959011830407076e-18,1.152832850305102e-06],"object_linear_velocity_m_s":[-1.5959682462632457e-17,-5.068977814494593e-17,1.2662894982150781e-14],"object_angular_velocity_rad_s":[-1.403795375159061e-15,-5.286072355406257e-16,3.957191070770102e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221275206,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.3097463880167193,-1.570795108424298,-0.44910793619502326,0.0],"actuator_force":[-8.049028110690415e-11,-18.98804394863828,-20.286344740333334,-2.4133256390919087,0.0006091847757261348,-8.242295734817162e-13,-0.29336111309990465],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727111,-1.3049197367389325,-1.5707963267948968,-0.4491079361950238],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.560000000000922,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727111,-1.3049197367389325,-1.5707963267948968,-0.4491079361950238],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.580000000000947,"qpos":[-2.0199042629899218,-1.6014778092286859,1.335601219172708,-1.3049197367389438,-1.570796326794924,-0.44910793619502615,0.0029336111715618863,0.00015630156039449046,0.0031934794684819376,-0.0034292989416441354,0.0029336110740917575,0.00015630110946131994,0.0031978493858174487,-0.0034379968902982162,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993354,-3.121015336997075e-17,1.5964848566526978e-17,1.1531977730931674e-06],"qvel":[-6.188237587924655e-12,9.3697919496954e-14,-1.8847206128757985e-12,-1.2739161133832811e-11,-2.7137475063739064e-11,-1.443722644941971e-14,-2.2433674279102306e-09,-1.2755229886306159e-08,1.2004762259255521e-08,1.1625944005812505e-09,1.5186681088865991e-09,8.301456484465772e-09,-8.062750329916701e-09,-5.966873604682797e-10,-7.994410207274905e-17,-4.544115709642506e-17,1.3140290882739598e-14,5.439200756930079e-16,5.06075726979318e-15,7.224831580022708e-08],"joint_position_rad":[-2.0199042629899218,-1.6014778092286859,1.335601219172708,-1.3049197367389438,-1.570796326794924,-0.44910793619502615],"joint_velocity_rad_s":[-6.188237587924655e-12,9.3697919496954e-14,-1.8847206128757985e-12,-1.2739161133832811e-11,-2.7137475063739064e-11,-1.443722644941971e-14],"linkage_position_rad":[0.0029336111715618863,0.00015630156039449046,0.0031934794684819376,-0.0034292989416441354,0.0029336110740917575,0.00015630110946131994,0.0031978493858174487,-0.0034379968902982162],"tcp_position_m":[0.08125537448653217,0.4772357226219446,0.43500000000000727],"tcp_quaternion_wxyz":[8.861025113510298e-15,0.7071067811865467,0.7071067811865478,1.6403125192626436e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993354,-3.121015336997075e-17,1.5964848566526978e-17,1.1531977730931674e-06],"object_linear_velocity_m_s":[-7.994410207274905e-17,-4.544115709642506e-17,1.3140290882739598e-14],"object_angular_velocity_rad_s":[5.439084058903958e-16,5.060758528784328e-15,7.224831580022713e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221285163,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025083,-1.30974638801672,-1.5707951084242984,-0.4491079361950238,0.0],"actuator_force":[2.478827809682116e-09,-18.988043948666018,-20.2863447396453,-2.413325637614207,0.0006091880266012595,2.6147972675971687e-12,-0.2933611086591856],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.580000000000947,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.60000000000097,"qpos":[-2.019904262989918,-1.6014778092286859,1.3356012191727087,-1.3049197367389345,-1.5707963267949019,-0.44910793619502615,0.00293361117367895,0.0001563015706263036,0.0031934794581385197,-0.003429298941422915,0.00293361107258625,0.0001563011029283294,0.00319784939254025,-0.0034379968903909828,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993354,-2.175149377427117e-17,2.7033652911760747e-17,1.1534718281645363e-06],"qvel":[1.7342607406053767e-12,3.238118879599264e-14,6.9069896757994e-13,2.5171235294709913e-12,4.7250195507441186e-12,1.7453824498329814e-14,7.809082645910912e-10,4.039773304268368e-09,-3.9620547008717626e-09,-2.7069429168752823e-10,-6.759780595920624e-10,-2.6249276269911007e-09,2.510583728320858e-09,2.0724700456145407e-10,-3.210762955233127e-17,-2.680514445100028e-17,1.2550484900907484e-14,1.0170869140658994e-15,-6.805322497904018e-16,7.827513363399165e-09],"joint_position_rad":[-2.019904262989918,-1.6014778092286859,1.3356012191727087,-1.3049197367389345,-1.5707963267949019,-0.44910793619502615],"joint_velocity_rad_s":[1.7342607406053767e-12,3.238118879599264e-14,6.9069896757994e-13,2.5171235294709913e-12,4.7250195507441186e-12,1.7453824498329814e-14],"linkage_position_rad":[0.00293361117367895,0.0001563015706263036,0.0031934794581385197,-0.003429298941422915,0.00293361107258625,0.0001563011029283294,0.00319784939254025,-0.0034379968903909828],"tcp_position_m":[0.08125537448652417,0.477235722621945,0.4350000000000058],"tcp_quaternion_wxyz":[1.612942168219188e-17,0.7071067811865454,0.7071067811865491,7.937283351591739e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993354,-2.175149377427117e-17,2.7033652911760747e-17,1.1534718281645363e-06],"object_linear_velocity_m_s":[-3.210762955233127e-17,-2.680514445100028e-17,1.2550484900907484e-14],"object_angular_velocity_rad_s":[1.0170884844359633e-15,-6.805299030858667e-16,7.827513363399175e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313413,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025072,-1.309746388016719,-1.5707951084242981,-0.44910793619502315,0.0],"actuator_force":[-6.980371836107224e-10,-18.988043948641007,-20.286344740679397,-2.4133256391439772,0.0006091848293863222,-2.5579538487363607e-13,-0.29336111283791105],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727094,-1.3049197367389314,-1.5707963267948966,-0.44910793619502304],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.60000000000097,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727094,-1.3049197367389314,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.620000000000996,"qpos":[-2.019904262989922,-1.6014778092286859,1.3356012191727076,-1.3049197367389407,-1.5707963267949137,-0.44910793619502615,0.0029336111716214476,0.00015630156007884674,0.0031934794684673985,-0.003429298940956185,0.0029336110743733356,0.0001563011096932315,0.0031978493861782777,-0.0034379968908512556,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993352,-2.08597962444257e-17,5.3559716861247286e-17,1.1539721835173312e-06],"qvel":[1.4262576751717425e-12,1.780461659689935e-14,4.0433988188848024e-13,3.3399814727113933e-12,7.372994572300238e-12,2.356617879163811e-14,2.632746518529094e-10,1.9633836291357035e-09,-1.7644561087243764e-09,-2.306025903113668e-10,-6.86084889981311e-11,-1.2913681080794141e-09,1.3012533263818125e-09,5.218574560214388e-11,-6.028811076508719e-17,-2.6899341686972475e-17,1.2268765808408851e-14,9.457273934601378e-16,-1.0981380788814342e-15,1.429106270826017e-08],"joint_position_rad":[-2.019904262989922,-1.6014778092286859,1.3356012191727076,-1.3049197367389407,-1.5707963267949137,-0.44910793619502615],"joint_velocity_rad_s":[1.4262576751717425e-12,1.780461659689935e-14,4.0433988188848024e-13,3.3399814727113933e-12,7.372994572300238e-12,2.356617879163811e-14],"linkage_position_rad":[0.0029336111716214476,0.00015630156007884674,0.0031934794684673985,-0.003429298940956185,0.0029336110743733356,0.0001563011096932315,0.0031978493861782777,-0.0034379968908512556],"tcp_position_m":[0.08125537448652974,0.47723572262194497,0.43500000000000705],"tcp_quaternion_wxyz":[4.398949177329359e-15,0.7071067811865469,0.7071067811865476,1.3313724677628289e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993352,-2.08597962444257e-17,5.3559716861247286e-17,1.1539721835173312e-06],"object_linear_velocity_m_s":[-6.028811076508719e-17,-2.6899341686972475e-17,1.2268765808408851e-14],"object_angular_velocity_rad_s":[9.45729929430064e-16,-1.0981358955960821e-15,1.4291062708260198e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221281947,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025066,-1.3097463880167186,-1.570795108424298,-0.44910793619502304,0.0],"actuator_force":[-5.670699465554208e-10,-18.988043948635095,-20.28634474056389,-2.4133256392229896,0.0006091845706350796,-8.242295734817162e-13,-0.29336111327306996],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.620000000000996,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.64000000000102,"qpos":[-2.0199042629899235,-1.6014778092286859,1.3356012191727067,-1.3049197367389467,-1.5707963267949272,-0.44910793619502615,0.0029336111704751974,0.00015630155465348383,0.003193479474093613,-0.003429298941253772,0.002933611075128603,0.00015630111307836118,0.0031978493825295003,-0.003437996890668212,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993339,-2.818703564928452e-17,6.905731918167717e-17,1.1544167381367474e-06],"qvel":[-2.1740635759488507e-12,5.71746644900036e-14,-1.0536732378360213e-12,-2.1762889883962272e-12,-3.2115200275459852e-12,1.5474711813592752e-14,-1.029717210188559e-09,-5.469463115960741e-09,5.371708292146676e-09,4.100026418306479e-10,9.849115679119894e-10,3.501429929440103e-09,-3.225841763239976e-09,-3.5950931779286644e-10,-8.999109599482928e-17,-4.1377590852373437e-17,1.3677361270902021e-14,2.8190756328637395e-16,-6.021959805567527e-16,2.609187156247893e-08],"joint_position_rad":[-2.0199042629899235,-1.6014778092286859,1.3356012191727067,-1.3049197367389467,-1.5707963267949272,-0.44910793619502615],"joint_velocity_rad_s":[-2.1740635759488507e-12,5.71746644900036e-14,-1.0536732378360213e-12,-2.1762889883962272e-12,-3.2115200275459852e-12,1.5474711813592752e-14],"linkage_position_rad":[0.0029336111704751974,0.00015630155465348383,0.003193479474093613,-0.003429298941253772,0.002933611075128603,0.00015630111307836118,0.0031978493825295003,-0.003437996890668212],"tcp_position_m":[0.08125537448653417,0.47723572262194464,0.43500000000000827],"tcp_quaternion_wxyz":[9.738171816255543e-15,0.7071067811865477,0.7071067811865466,1.8731451939488663e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993339,-2.818703564928452e-17,6.905731918167717e-17,1.1544167381367474e-06],"object_linear_velocity_m_s":[-8.999109599482928e-17,-4.1377590852373437e-17,1.3677361270902021e-14],"object_angular_velocity_rad_s":[2.819089572595296e-16,-6.021953282066194e-16,2.6091871562478944e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221266673,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.3097463880167188,-1.570795108424298,-0.44910793619502315,0.0],"actuator_force":[8.767528925091028e-10,-18.988043948650557,-20.28634473997772,-2.413325638668425,0.0006091856357670622,-5.684341886080802e-14,-0.29336111205616183],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389325,-1.5707963267948966,-0.44910793619502415],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.64000000000102,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389325,-1.5707963267948966,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.660000000001045,"qpos":[-2.0199042629899164,-1.6014778092286859,1.3356012191727091,-1.3049197367389334,-1.5707963267948986,-0.44910793619502615,0.002933611174495093,0.00015630157462181665,0.003193479454238887,-0.0034292989417294365,0.002933611071841115,0.00015630110027989384,0.003197849395047411,-0.0034379968901530273,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993336,-4.141448157623069e-17,7.537380139915265e-17,1.154843322232315e-06],"qvel":[1.52660107293559e-12,4.555535574042853e-14,6.442600900283333e-13,1.868401359541624e-12,3.1999214832743588e-12,1.0509821598092417e-14,9.117880713435654e-10,4.336673040361425e-09,-4.315937190409824e-09,-2.472826954467532e-10,-8.455480115782084e-10,-2.8111157236635102e-09,2.6721430556664333e-09,2.4132992166307473e-10,-1.173990759402766e-16,-7.390449252803483e-17,1.3433112205484487e-14,-1.6734620142941614e-15,7.083234876168139e-16,4.7637168454899215e-08],"joint_position_rad":[-2.0199042629899164,-1.6014778092286859,1.3356012191727091,-1.3049197367389334,-1.5707963267948986,-0.44910793619502615],"joint_velocity_rad_s":[1.52660107293559e-12,4.555535574042853e-14,6.442600900283333e-13,1.868401359541624e-12,3.1999214832743588e-12,1.0509821598092417e-14],"linkage_position_rad":[0.002933611174495093,0.00015630157462181665,0.003193479454238887,-0.0034292989417294365,0.002933611071841115,0.00015630110027989384,0.003197849395047411,-0.0034379968901530273],"tcp_position_m":[0.08125537448652254,0.47723572262194525,0.4350000000000055],"tcp_quaternion_wxyz":[-1.2746192440107987e-15,0.707106781186545,0.7071067811865497,6.600547742492888e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993336,-4.141448157623069e-17,7.537380139915265e-17,1.154843322232315e-06],"object_linear_velocity_m_s":[-1.173990759402766e-16,-7.390449252803483e-17,1.3433112205484487e-14],"object_angular_velocity_rad_s":[-1.6734636431138142e-15,7.083196263878064e-16,4.7637168454899255e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322132469,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025072,-1.30974638801672,-1.5707951084242981,-0.44910793619502415,0.0],"actuator_force":[-6.180016498547047e-10,-18.988043948645554,-20.28634474066166,-2.4133256390800852,0.000609184980135069,-5.684341886080802e-14,-0.29336111264801074],"issued_joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.660000000001045,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.68000000000107,"qpos":[-2.0199042629899204,-1.6014778092286859,1.3356012191727082,-1.3049197367389382,-1.5707963267949072,-0.44910793619502615,0.0029336111720935525,0.00015630156313711175,0.0031934794656681914,-0.0034292989413531086,0.0029336110740667528,0.00015630110765042925,0.003197849388114503,-0.003437996890676358,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993334,-4.512995572612558e-17,7.568886976881416e-17,1.1551617283717628e-06],"qvel":[1.888672052686402e-12,2.272321346252448e-14,6.885154738785371e-13,3.3234593379561688e-12,6.718484530224688e-12,1.9383429484426263e-14,5.916346331695415e-10,3.521860532699982e-09,-3.3330902919835696e-09,-3.278631092828099e-10,-4.2782891213791934e-10,-2.2859417202307105e-09,2.1920819911554672e-09,1.7430658475587977e-10,-2.0703093036325232e-16,-1.027022459373029e-16,1.3627401234793888e-14,-3.61872964433016e-15,8.210128322498058e-15,8.697343971536995e-08],"joint_position_rad":[-2.0199042629899204,-1.6014778092286859,1.3356012191727082,-1.3049197367389382,-1.5707963267949072,-0.44910793619502615],"joint_velocity_rad_s":[1.888672052686402e-12,2.272321346252448e-14,6.885154738785371e-13,3.3234593379561688e-12,6.718484530224688e-12,1.9383429484426263e-14],"linkage_position_rad":[0.0029336111720935525,0.00015630156313711175,0.0031934794656681914,-0.0034292989413531086,0.0029336110740667528,0.00015630110765042925,0.003197849388114503,-0.003437996890676358],"tcp_position_m":[0.08125537448652709,0.47723572262194525,0.43500000000000655],"tcp_quaternion_wxyz":[1.852583190593365e-15,0.7071067811865464,0.7071067811865481,1.0956885616289002e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993334,-4.512995572612558e-17,7.568886976881416e-17,1.1551617283717628e-06],"object_linear_velocity_m_s":[-2.0703093036325232e-16,-1.027022459373029e-16,1.3627401234793888e-14],"object_angular_velocity_rad_s":[-3.618748599206719e-15,8.210119969890406e-15,8.697343971537006e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.0931351322128957,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.610971831203,1.3254580468025068,-1.3097463880167188,-1.570795108424298,-0.44910793619502337,0.0],"actuator_force":[-7.553353498224169e-10,-18.98804394863737,-20.286344740678487,-2.413325639222535,0.000609184632708093,-5.684341886080801e-13,-0.29336111312704394],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.68000000000107,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.700000000001094,"qpos":[-2.019904262989923,-1.6014778092286859,1.3356012191727065,-1.3049197367389453,-1.5707963267949223,-0.44910793619502615,0.0029336111701005136,0.00015630155336490437,0.0031934794756069873,-0.0034292989413512148,0.0029336110756814065,0.00015630111383052966,0.003197849381910413,-0.003437996890791169,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993334,-4.4882592638133116e-17,8.024331118895953e-17,1.1554916393456636e-06],"qvel":[2.7113807791535944e-13,2.2844353922851024e-14,-1.5938182460990418e-13,2.2570810473170463e-12,5.860786465516856e-12,2.2226340558630695e-14,-2.4287912384295876e-10,-7.770038627257105e-10,9.313316396672056e-10,-2.3325151633289116e-11,4.235211244868415e-10,4.679386534321159e-10,-3.146542157942199e-10,-1.2871705711343768e-10,-9.713167453941115e-17,-5.317030449674937e-17,1.2936287401964728e-14,1.7649646262301163e-15,-2.9576899719872244e-15,9.422859953101186e-09],"joint_position_rad":[-2.019904262989923,-1.6014778092286859,1.3356012191727065,-1.3049197367389453,-1.5707963267949223,-0.44910793619502615],"joint_velocity_rad_s":[2.7113807791535944e-13,2.2844353922851024e-14,-1.5938182460990418e-13,2.2570810473170463e-12,5.860786465516856e-12,2.2226340558630695e-14],"linkage_position_rad":[0.0029336111701005136,0.00015630155336490437,0.0031934794756069873,-0.0034292989413512148,0.0029336110756814065,0.00015630111383052966,0.003197849381910413,-0.003437996890791169],"tcp_position_m":[0.08125537448653265,0.4772357226219454,0.43500000000000816],"tcp_quaternion_wxyz":[7.433824908826299e-15,0.7071067811865476,0.7071067811865471,1.732875271563708e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993334,-4.4882592638133116e-17,8.024331118895953e-17,1.1554916393456636e-06],"object_linear_velocity_m_s":[-9.713167453941115e-17,-5.317030449674937e-17,1.2936287401964728e-14],"object_angular_velocity_rad_s":[1.7649714629097177e-15,-2.957685892329747e-15,9.422859953101205e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221260362,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.325458046802507,-1.3097463880167186,-1.5707951084242977,-0.4491079361950235,0.0],"actuator_force":[-1.0277290130034089e-10,-18.988043948636914,-20.286344740335608,-2.4133256391122586,0.0006091847262723604,-8.810729923425242e-13,-0.293361113192306],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950241],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.700000000001094,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.720000000001118,"qpos":[-2.019904262989923,-1.6014778092286859,1.3356012191727071,-1.304919736738947,-1.5707963267949274,-0.44910793619502615,0.0029336111719255385,0.0001563015601024594,0.003193479467937495,-0.003429298940580703,0.002933611073640158,0.00015630110967600582,0.0031978493860184984,-0.0034379968907917798,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993321,-4.042823350107545e-17,7.218111833611164e-17,1.155967342700079e-06],"qvel":[-6.4935778113514e-12,8.515821686932341e-14,-1.9961091980875528e-12,-1.3406978333192597e-11,-2.8561364928023495e-11,-1.7198220862105467e-14,-2.471595049121554e-09,-1.4183846876248987e-08,1.3296443546131387e-08,1.2263100439379412e-09,1.6969786135098416e-09,9.198401590001899e-09,-8.814010954193921e-09,-6.574727077657485e-10,-9.145162482031563e-17,-5.250725193689049e-17,1.3087555289069909e-14,1.3458202635775942e-15,-2.7596702972688023e-15,1.720376270586363e-08],"joint_position_rad":[-2.019904262989923,-1.6014778092286859,1.3356012191727071,-1.304919736738947,-1.5707963267949274,-0.44910793619502615],"joint_velocity_rad_s":[-6.4935778113514e-12,8.515821686932341e-14,-1.9961091980875528e-12,-1.3406978333192597e-11,-2.8561364928023495e-11,-1.7198220862105467e-14],"linkage_position_rad":[0.0029336111719255385,0.0001563015601024594,0.003193479467937495,-0.003429298940580703,0.002933611073640158,0.00015630110967600582,0.0031978493860184984,-0.0034379968907917798],"tcp_position_m":[0.08125537448653397,0.477235722621945,0.43500000000000805],"tcp_quaternion_wxyz":[9.759132658367311e-15,0.7071067811865476,0.7071067811865471,1.8627921215260382e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993321,-4.042823350107545e-17,7.218111833611164e-17,1.155967342700079e-06],"object_linear_velocity_m_s":[-9.145162482031563e-17,-5.250725193689049e-17,1.3087555289069909e-14],"object_angular_velocity_rad_s":[1.3458266462350505e-15,-2.759667184421842e-15,1.7203762705863637e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221285888,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030008,1.325458046802508,-1.3097463880167197,-1.5707951084242988,-0.4491079361950241,0.0],"actuator_force":[2.6029738364741206e-09,-18.9880439486642,-20.286344739599826,-2.413325637545654,0.0006091881704151092,2.7569058147491887e-12,-0.29336110840520263],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948968,-0.4491079361950241],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.720000000001118,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948968,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.740000000001142,"qpos":[-2.019904262989918,-1.6014778092286859,1.335601219172709,-1.3049197367389354,-1.5707963267949019,-0.44910793619502615,0.0029336111727939884,0.00015630156705912502,0.0031934794619658947,-0.0034292989417699605,0.0029336110734858967,0.00015630110508676806,0.0031978493905224933,-0.003437996890409847,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993319,-2.24220077943039e-17,5.236684730091353e-17,1.156439863608332e-06],"qvel":[1.9043333176705284e-12,3.279500574247631e-14,7.698171105712022e-13,2.7649213075873346e-12,5.159732429532628e-12,1.3219823160802055e-14,8.139356907353381e-10,4.340197628514127e-09,-4.199513363364776e-09,-3.474514696911468e-10,-6.962688823622896e-10,-2.806499951530721e-09,2.6485872420201156e-09,2.484520980696826e-10,-7.050226644349893e-17,-2.890481013327393e-17,1.3179148688601487e-14,1.5046803037563296e-15,-2.0824474947451946e-15,3.140972620974854e-08],"joint_position_rad":[-2.019904262989918,-1.6014778092286859,1.335601219172709,-1.3049197367389354,-1.5707963267949019,-0.44910793619502615],"joint_velocity_rad_s":[1.9043333176705284e-12,3.279500574247631e-14,7.698171105712022e-13,2.7649213075873346e-12,5.159732429532628e-12,1.3219823160802055e-14],"linkage_position_rad":[0.0029336111727939884,0.00015630156705912502,0.0031934794619658947,-0.0034292989417699605,0.0029336110734858967,0.00015630110508676806,0.0031978493905224933,-0.003437996890409847],"tcp_position_m":[0.08125537448652426,0.4772357226219452,0.43500000000000616],"tcp_quaternion_wxyz":[-1.5272498240283436e-16,0.7071067811865454,0.7071067811865489,8.271974364640173e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993319,-2.24220077943039e-17,5.236684730091353e-17,1.156439863608332e-06],"object_linear_velocity_m_s":[-7.050226644349893e-17,-2.890481013327393e-17,1.3179148688601487e-14],"object_angular_velocity_rad_s":[1.5046851234925553e-15,-2.0824440131865145e-15,3.140972620974857e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221300349,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.325458046802508,-1.3097463880167195,-1.5707951084242981,-0.4491079361950241,0.0],"actuator_force":[-7.66249286243692e-10,-18.98804394864237,-20.286344740709865,-2.4133256391685336,0.0006091847858442634,-3.126388037344441e-13,-0.2933611129023283],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.740000000001142,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.760000000001167,"qpos":[-2.0199042629899218,-1.6014778092286859,1.335601219172707,-1.3049197367389418,-1.5707963267949143,-0.44910793619502615,0.0029336111702559326,0.00015630155500889805,0.0031934794742607495,-0.003429298941677958,0.002933611075740084,0.00015630111272033499,0.0031978493830120414,-0.003437996890722928,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993316,-1.2388467124682668e-17,4.248054087651148e-17,1.1568290659443312e-06],"qvel":[1.5603932808318312e-12,1.4012408765902114e-14,4.553994483784014e-13,3.648391756225907e-12,8.044932999542624e-12,2.288614987802925e-14,2.83536606776583e-10,2.136155537882267e-09,-1.9082918595657912e-09,-2.5684248846563403e-10,-6.809048529614056e-11,-1.3946811402173122e-09,1.4014641539774789e-09,5.7554833129932654e-11,-8.324415116588468e-17,-2.5205031392096823e-17,1.2585179370427031e-14,8.305575580344118e-16,6.096383288677466e-16,5.734622811526179e-08],"joint_position_rad":[-2.0199042629899218,-1.6014778092286859,1.335601219172707,-1.3049197367389418,-1.5707963267949143,-0.44910793619502615],"joint_velocity_rad_s":[1.5603932808318312e-12,1.4012408765902114e-14,4.553994483784014e-13,3.648391756225907e-12,8.044932999542624e-12,2.288614987802925e-14],"linkage_position_rad":[0.0029336111702559326,0.00015630155500889805,0.0031934794742607495,-0.003429298941677958,0.002933611075740084,0.00015630111272033499,0.0031978493830120414,-0.003437996890722928],"tcp_position_m":[0.08125537448652985,0.4772357226219453,0.4350000000000076],"tcp_quaternion_wxyz":[4.400750188520779e-15,0.7071067811865469,0.7071067811865478,1.437418261826575e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993316,-1.2388467124682668e-17,4.248054087651148e-17,1.1568290659443312e-06],"object_linear_velocity_m_s":[-8.324415116588468e-17,-2.5205031392096823e-17,1.2585179370427031e-14],"object_angular_velocity_rad_s":[8.30556152409709e-16,6.096402519132334e-16,5.734622811526188e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221263212,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029997,1.3254580468025077,-1.3097463880167195,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[-6.216396286617965e-10,-18.988043948633276,-20.286344740580716,-2.413325639253685,0.000609184503787219,-9.094947017729282e-13,-0.2933611133770314],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.760000000001167,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.78000000000119,"qpos":[-2.0199042629899253,-1.6014778092286859,1.3356012191727058,-1.3049197367389493,-1.5707963267949305,-0.44910793619502615,0.002933611170621431,0.00015630155333426862,0.0031934794746365006,-0.0034292989402234285,0.0029336110748958244,0.00015630111398372428,0.00319784938206434,-0.003437996891183963,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993314,-5.815249103995847e-18,3.2621883787483984e-17,1.1571508682844652e-06],"qvel":[-2.2366215550065227e-12,4.892382024315577e-14,-1.0953066205527547e-12,-2.208788582862544e-12,-3.2106047424864834e-12,1.4820381816399816e-14,-1.185438986112358e-09,-6.3249315570077626e-09,6.18049985014766e-09,4.1351377466581895e-10,1.1408025549109573e-09,4.040873853137909e-09,-3.6630687064141754e-09,-4.0203494304146064e-10,-3.710516558547496e-17,-1.6360503079141957e-17,1.2246561347916359e-14,4.0535168658490534e-16,-1.6533724862897697e-15,1.0469973081225591e-07],"joint_position_rad":[-2.0199042629899253,-1.6014778092286859,1.3356012191727058,-1.3049197367389493,-1.5707963267949305,-0.44910793619502615],"joint_velocity_rad_s":[-2.2366215550065227e-12,4.892382024315577e-14,-1.0953066205527547e-12,-2.208788582862544e-12,-3.2106047424864834e-12,1.4820381816399816e-14],"linkage_position_rad":[0.002933611170621431,0.00015630155333426862,0.0031934794746365006,-0.0034292989402234285,0.0029336110748958244,0.00015630111398372428,0.00319784938206434,-0.003437996891183963],"tcp_position_m":[0.08125537448653604,0.47723572262194525,0.4350000000000088],"tcp_quaternion_wxyz":[1.0648763459459642e-14,0.7071067811865482,0.7071067811865465,2.1079754362932206e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993314,-5.815249103995847e-18,3.2621883787483984e-17,1.1571508682844652e-06],"object_linear_velocity_m_s":[-3.710516558547496e-17,-1.6360503079141957e-17,1.2246561347916359e-14],"object_angular_velocity_rad_s":[4.0535551981764027e-16,-1.6533715469615149e-15,1.046997308122561e-07],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221264255,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.3254580468025072,-1.309746388016719,-1.570795108424298,-0.4491079361950233,0.0],"actuator_force":[9.054019756149501e-10,-18.988043948647373,-20.28634473995953,-2.4133256386639914,0.0006091856373586779,-8.526512829121202e-14,-0.2933611120526807],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950239],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.78000000000119,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.800000000001216,"qpos":[-2.0199042629899164,-1.6014778092286859,1.3356012191727091,-1.3049197367389336,-1.570796326794898,-0.44910793619502615,0.0029336111736395025,0.000156301571340997,0.00319347945782524,-0.00342929894215727,0.002933611072717294,0.00015630110231099946,0.00319784939309013,-0.0034379968901094185,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993303,-1.9111206427058936e-18,1.825367155018369e-17,1.1575480193028951e-06],"qvel":[1.6766728145259097e-12,4.593170537978794e-14,7.144884902766557e-13,2.0610025043864286e-12,3.5040741425541252e-12,1.1727155819978146e-14,9.590846777655646e-10,4.6732900298511505e-09,-4.597589857494372e-09,-3.160977949184296e-10,-8.846327716945929e-10,-3.0185374569871212e-09,2.834748262434441e-09,2.840406586710636e-10,-2.4454496595205914e-17,-4.496234447457305e-18,1.2832203993406132e-14,2.0625928785480412e-16,-1.230343031610079e-15,1.1343358429881663e-08],"joint_position_rad":[-2.0199042629899164,-1.6014778092286859,1.3356012191727091,-1.3049197367389336,-1.570796326794898,-0.44910793619502615],"joint_velocity_rad_s":[1.6766728145259097e-12,4.593170537978794e-14,7.144884902766557e-13,2.0610025043864286e-12,3.5040741425541252e-12,1.1727155819978146e-14],"linkage_position_rad":[0.0029336111736395025,0.000156301571340997,0.00319347945782524,-0.00342929894215727,0.002933611072717294,0.00015630110231099946,0.00319784939309013,-0.0034379968901094185],"tcp_position_m":[0.08125537448652241,0.47723572262194525,0.4350000000000055],"tcp_quaternion_wxyz":[-1.6203427613456388e-15,0.7071067811865448,0.7071067811865497,6.5688427168948e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993303,-1.9111206427058936e-18,1.825367155018369e-17,1.1575480193028951e-06],"object_linear_velocity_m_s":[-2.4454496595205914e-17,-4.496234447457305e-18,1.2832203993406132e-14],"object_angular_velocity_rad_s":[2.0626213663064595e-16,-1.2303425540533647e-15,1.1343358429881668e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313127,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025075,-1.309746388016719,-1.5707951084242981,-0.4491079361950239,0.0],"actuator_force":[-6.789377948734909e-10,-18.98804394864692,-20.286344740688946,-2.4133256390988436,0.0006091849494396229,-5.684341886080802e-14,-0.29336111269009935],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727094,-1.3049197367389316,-1.5707963267948966,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.800000000001216,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727094,-1.3049197367389316,-1.5707963267948966,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.82000000000124,"qpos":[-2.0199042629899195,-1.6014778092286859,1.3356012191727071,-1.3049197367389382,-1.5707963267949059,-0.44910793619502615,0.002933611170766384,0.00015630155836912678,0.0031934794711912314,-0.0034292989421091644,0.0029336110754102983,0.00015630111054301644,0.0031978493850704625,-0.0034379968905134837,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993301,-2.2086128810499973e-17,1.091190949542829e-17,1.1579986157993544e-06],"qvel":[2.0661532553072234e-12,2.2877572931905114e-14,7.609112042429195e-13,3.6311662539755585e-12,7.323935098133957e-12,2.2110233437051218e-14,6.419421036396355e-10,3.839453832390894e-09,-3.62449363410999e-09,-3.6175817115004396e-10,-4.6094627317683365e-10,-2.4779218781331036e-09,2.371074557314211e-09,1.9020780137741607e-10,-1.6157829215314914e-17,-2.8211844273073465e-17,1.2661507203370012e-14,-4.1865782686923306e-16,-6.069797702478642e-16,2.0710107938198874e-08],"joint_position_rad":[-2.0199042629899195,-1.6014778092286859,1.3356012191727071,-1.3049197367389382,-1.5707963267949059,-0.44910793619502615],"joint_velocity_rad_s":[2.0661532553072234e-12,2.2877572931905114e-14,7.609112042429195e-13,3.6311662539755585e-12,7.323935098133957e-12,2.2110233437051218e-14],"linkage_position_rad":[0.002933611170766384,0.00015630155836912678,0.0031934794711912314,-0.0034292989421091644,0.0029336110754102983,0.00015630111054301644,0.0031978493850704625,-0.0034379968905134837],"tcp_position_m":[0.08125537448652621,0.4772357226219455,0.43500000000000716],"tcp_quaternion_wxyz":[9.44898922006901e-16,0.7071067811865456,0.7071067811865485,1.116731448443197e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993301,-2.2086128810499973e-17,1.091190949542829e-17,1.1579986157993544e-06],"object_linear_velocity_m_s":[-1.6157829215314914e-17,-2.8211844273073465e-17,1.2661507203370012e-14],"object_angular_velocity_rad_s":[-4.1865642065267066e-16,-6.069807389417924e-16,2.0710107938198897e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221271993,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029995,1.3254580468025066,-1.3097463880167188,-1.5707951084242977,-0.4491079361950229,0.0],"actuator_force":[-8.271854312624782e-10,-18.98804394863646,-20.286344740705317,-2.413325639253344,0.0006091845716582611,-6.252776074688882e-13,-0.29336111321381325],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.82000000000124,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.840000000001265,"qpos":[-2.019904262989925,-1.6014778092286859,1.3356012191727051,-1.3049197367389467,-1.5707963267949239,-0.44910793619502615,0.0029336111701403315,0.00015630155160834864,0.0031934794765956687,-0.003429298940343479,0.0029336110755697723,0.00015630111504696256,0.0031978493811927206,-0.0034379968913180294,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993299,-2.0830894704110813e-17,1.3574194118555714e-17,1.1584395875283221e-06],"qvel":[3.6535813789112376e-13,1.620302842691731e-14,-1.359516798429144e-13,2.498863750994685e-12,6.41279681742116e-12,2.523191621434905e-14,-3.548107878545009e-10,-1.243290006972311e-09,1.4135803335804114e-09,-6.371916393168782e-11,5.516979482713448e-10,7.585259676864794e-10,-5.539942352923145e-10,-1.4793286603676349e-10,-2.0196971099994928e-17,-3.214638494356645e-17,1.2438074819664202e-14,6.507126686104084e-16,2.084165166085157e-17,3.7811427141535904e-08],"joint_position_rad":[-2.019904262989925,-1.6014778092286859,1.3356012191727051,-1.3049197367389467,-1.5707963267949239,-0.44910793619502615],"joint_velocity_rad_s":[3.6535813789112376e-13,1.620302842691731e-14,-1.359516798429144e-13,2.498863750994685e-12,6.41279681742116e-12,2.523191621434905e-14],"linkage_position_rad":[0.0029336111701403315,0.00015630155160834864,0.0031934794765956687,-0.003429298940343479,0.0029336110755697723,0.00015630111504696256,0.0031978493811927206,-0.0034379968913180294],"tcp_position_m":[0.08125537448653415,0.47723572262194547,0.43500000000000905],"tcp_quaternion_wxyz":[7.674743013402715e-15,0.7071067811865482,0.7071067811865465,1.8909828561867964e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993299,-2.0830894704110813e-17,1.3574194118555714e-17,1.1584395875283221e-06],"object_linear_velocity_m_s":[-2.0196971099994928e-17,-3.214638494356645e-17,1.2438074819664202e-14],"object_angular_velocity_rad_s":[6.507126213475918e-16,2.084316085871942e-17,3.781142714153597e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221256524,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312029995,1.325458046802507,-1.309746388016719,-1.570795108424298,-0.449107936195023,0.0],"actuator_force":[-1.368789526168257e-10,-18.98804394863373,-20.286344740341974,-2.413325639136019,0.0006091846717026783,-9.663381206337363e-13,-0.29336111326994097],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950239],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.840000000001265,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.86000000000129,"qpos":[-2.019904262989923,-1.6014778092286859,1.3356012191727067,-1.3049197367389473,-1.5707963267949288,-0.44910793619502615,0.00293361117081579,0.00015630155548051816,0.003193479472831557,-0.003429298940935678,0.0029336110746925868,0.00015630111252316908,0.003197849383247783,-0.003437996890780488,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993296,-1.9088610088103884e-17,2.6372270685124475e-17,1.1587882755539055e-06],"qvel":[-7.0361872563825565e-12,9.009682885295696e-14,-2.1795744337731183e-12,-1.456798128353212e-11,-3.100888279521691e-11,-1.864860752913924e-14,-2.7189732923220434e-09,-1.5513058712349795e-08,1.4578675281957178e-08,1.2901123591596316e-09,1.867798995841687e-09,9.99678757339104e-09,-9.601335005750353e-09,-6.891187681081845e-10,-8.102537022655453e-17,-3.463082285784172e-17,1.222574466620464e-14,-1.0584479907549135e-15,4.606099183792011e-15,6.903411738587794e-08],"joint_position_rad":[-2.019904262989923,-1.6014778092286859,1.3356012191727067,-1.3049197367389473,-1.5707963267949288,-0.44910793619502615],"joint_velocity_rad_s":[-7.0361872563825565e-12,9.009682885295696e-14,-2.1795744337731183e-12,-1.456798128353212e-11,-3.100888279521691e-11,-1.864860752913924e-14],"linkage_position_rad":[0.00293361117081579,0.00015630155548051816,0.003193479472831557,-0.003429298940935678,0.0029336110746925868,0.00015630111252316908,0.003197849383247783,-0.003437996890780488],"tcp_position_m":[0.08125537448653437,0.477235722621945,0.43500000000000827],"tcp_quaternion_wxyz":[1.0182898764036448e-14,0.7071067811865476,0.7071067811865471,1.9398223492194596e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993296,-1.9088610088103884e-17,2.6372270685124475e-17,1.1587882755539055e-06],"object_linear_velocity_m_s":[-8.102537022655453e-17,-3.463082285784172e-17,1.222574466620464e-14],"object_angular_velocity_rad_s":[-1.058458662098364e-15,4.6060967333809405e-15,6.903411738587807e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221270264,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.325458046802508,-1.3097463880167197,-1.5707951084242986,-0.4491079361950239,0.0],"actuator_force":[2.820797817548737e-09,-18.988043948664654,-20.286344739525703,-2.4133256374293524,0.0006091884159786787,2.9842794901924208e-12,-0.29336110801954735],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.44910793619502404],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.86000000000129,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.880000000001314,"qpos":[-2.019904262989917,-1.6014778092286859,1.335601219172708,-1.3049197367389345,-1.5707963267949008,-0.44910793619502615,0.002933611171519292,0.00015630156263783378,0.0031934794671681136,-0.0034292989425619078,0.0029336110747884363,0.00015630110778583656,0.0031978493876347594,-0.0034379968902245495,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993285,-1.719417716726185e-17,3.388213550763899e-17,1.1590501384050656e-06],"qvel":[2.080210371550811e-12,3.348792278654835e-14,8.473682974507684e-13,3.0225397734091265e-12,5.629222212709333e-12,1.368482228916013e-14,8.847427125681413e-10,4.734965977805589e-09,-4.574882127264576e-09,-3.82766703343696e-10,-7.549370418679414e-10,-3.045809672032803e-09,2.8699140317337367e-09,2.720064888028865e-10,-3.808166663773741e-17,-2.0279096774843368e-17,1.312918865249336e-14,6.512011542397911e-16,-1.0390085634412343e-15,7.479281286813928e-09],"joint_position_rad":[-2.019904262989917,-1.6014778092286859,1.335601219172708,-1.3049197367389345,-1.5707963267949008,-0.44910793619502615],"joint_velocity_rad_s":[2.080210371550811e-12,3.348792278654835e-14,8.473682974507684e-13,3.0225397734091265e-12,5.629222212709333e-12,1.368482228916013e-14],"linkage_position_rad":[0.002933611171519292,0.00015630156263783378,0.0031934794671681136,-0.0034292989425619078,0.0029336110747884363,0.00015630110778583656,0.0031978493876347594,-0.0034379968902245495],"tcp_position_m":[0.08125537448652351,0.47723572262194536,0.4350000000000064],"tcp_quaternion_wxyz":[-5.49199744021394e-16,0.7071067811865452,0.7071067811865495,8.019039585012456e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993285,-1.719417716726185e-17,3.388213550763899e-17,1.1590501384050656e-06],"object_linear_velocity_m_s":[-3.808166663773741e-17,-2.0279096774843368e-17,1.312918865249336e-14],"object_angular_velocity_rad_s":[6.512035632709081e-16,-1.0390070536316666e-15,7.479281286813931e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221284146,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030001,1.3254580468025075,-1.309746388016719,-1.5707951084242981,-0.44910793619502404,0.0],"actuator_force":[-8.394636097364128e-10,-18.988043948641916,-20.286344740739878,-2.413325639194568,0.0006091847383231652,-3.126388037344441e-13,-0.2933611129644147],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950235],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.880000000001314,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.900000000001338,"qpos":[-2.019904262989923,-1.6014778092286859,1.335601219172706,-1.3049197367389422,-1.5707963267949159,-0.44910793619502615,0.002933611170205368,0.00015630155301177054,0.003193479475532868,-0.0034292989407313846,0.002933611075736118,0.0001563011141053462,0.0031978493821407036,-0.003437996891244859,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993283,-1.9894095017298756e-17,4.879480229206683e-17,1.1595282338426802e-06],"qvel":[1.7378709141439502e-12,6.457810423890682e-15,5.198150666594313e-13,3.979014764974281e-12,8.730576797078142e-12,2.29308638770303e-14,2.0201290202451667e-10,1.925168325119034e-09,-1.6478010932800209e-09,-3.279265145208995e-10,3.212655153774355e-11,-1.268281707803797e-09,1.2889942806704563e-09,6.098260440445771e-11,-5.717430000214814e-17,-2.247216698845986e-17,1.2941838517087866e-14,6.579029160437939e-16,-1.049420766273683e-15,1.3655278875962517e-08],"joint_position_rad":[-2.019904262989923,-1.6014778092286859,1.335601219172706,-1.3049197367389422,-1.5707963267949159,-0.44910793619502615],"joint_velocity_rad_s":[1.7378709141439502e-12,6.457810423890682e-15,5.198150666594313e-13,3.979014764974281e-12,8.730576797078142e-12,2.29308638770303e-14],"linkage_position_rad":[0.002933611170205368,0.00015630155301177054,0.003193479475532868,-0.0034292989407313846,0.002933611075736118,0.0001563011141053462,0.0031978493821407036,-0.003437996891244859],"tcp_position_m":[0.08125537448653089,0.4772357226219454,0.43500000000000805],"tcp_quaternion_wxyz":[4.822832086963932e-15,0.7071067811865476,0.7071067811865471,1.506429606503979e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993283,-1.9894095017298756e-17,4.879480229206683e-17,1.1595282338426802e-06],"object_linear_velocity_m_s":[-5.717430000214814e-17,-2.247216698845986e-17,1.2941838517087866e-14],"object_angular_velocity_rad_s":[6.579053510406536e-16,-1.0494192400135293e-15,1.3655278875962532e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221258546,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025077,-1.3097463880167195,-1.5707951084242977,-0.4491079361950235,0.0],"actuator_force":[-6.889422365929931e-10,-18.988043948631002,-20.286344740604818,-2.4133256392865405,0.0006091844360298637,-9.663381206337363e-13,-0.29336111346777155],"issued_joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.449107936195024],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.900000000001338,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.920000000001362,"qpos":[-2.0199042629899258,-1.6014778092286859,1.3356012191727058,-1.3049197367389496,-1.570796326794933,-0.44910793619502615,0.0029336111693732733,0.00015630154806452412,0.00319347948018508,-0.003429298940593975,0.0029336110760834204,0.0001563011172367063,0.0031978493789086766,-0.0034379968911772882,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993281,-1.3092392559485722e-17,4.567196060926919e-17,1.1600085740880706e-06],"qvel":[-2.4127864727958777e-12,4.409167704421636e-14,-1.1861474871649687e-12,-2.391729812146122e-12,-3.4565047154111325e-12,1.1798036930256239e-14,-1.3136688707024817e-09,-6.937322149143923e-09,6.817732733611733e-09,4.073184676056244e-10,1.2660202006611855e-09,4.403839725800213e-09,-4.010859292635904e-09,-4.1673491482247437e-10,-6.112837729657481e-17,-1.471980693074657e-17,1.2420033695514044e-14,7.261137748109411e-16,-1.449605015990613e-15,2.4931090840119036e-08],"joint_position_rad":[-2.0199042629899258,-1.6014778092286859,1.3356012191727058,-1.3049197367389496,-1.570796326794933,-0.44910793619502615],"joint_velocity_rad_s":[-2.4127864727958777e-12,4.409167704421636e-14,-1.1861474871649687e-12,-2.391729812146122e-12,-3.4565047154111325e-12,1.1798036930256239e-14],"linkage_position_rad":[0.0029336111693732733,0.00015630154806452412,0.00319347948018508,-0.003429298940593975,0.0029336110760834204,0.0001563011172367063,0.0031978493789086766,-0.0034379968911772882],"tcp_position_m":[0.08125537448653693,0.47723572262194486,0.43500000000000905],"tcp_quaternion_wxyz":[1.1743479989251752e-14,0.7071067811865485,0.7071067811865462,2.1416363191137498e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993281,-1.3092392559485722e-17,4.567196060926919e-17,1.1600085740880706e-06],"object_linear_velocity_m_s":[-6.112837729657481e-17,-1.471980693074657e-17,1.2420033695514044e-14],"object_angular_velocity_rad_s":[7.261171401947862e-16,-1.4496033307374874e-15,2.493109084011908e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221246567,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.0199042629899204,-1.6109718312030004,1.3254580468025077,-1.3097463880167193,-1.5707951084242981,-0.449107936195024,0.0],"actuator_force":[9.754330676514655e-10,-18.98804394864692,-20.286344739922242,-2.413325638645688,0.0006091856630519032,-1.1368683772161603e-13,-0.2933611120345913],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.44910793619502365],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.920000000001362,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.940000000001387,"qpos":[-2.019904262989916,-1.6014778092286859,1.3356012191727094,-1.304919736738932,-1.5707963267948977,-0.44910793619502615,0.0029336111724424874,0.00015630156732800453,0.003193479462624304,-0.003429298942987225,0.0029336110739490813,0.00015630110477534353,0.0031978493904142704,-0.003437996889888713,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993268,-4.353908560793216e-18,4.480371548925768e-17,1.160416180219813e-06],"qvel":[1.836862211130744e-12,4.680100027268202e-14,7.881225992222771e-13,2.24345509637624e-12,3.828142668431024e-12,1.327611616077317e-14,1.0431108838371423e-09,5.098151807062448e-09,-5.008946187312148e-09,-3.472008101402792e-10,-9.610275409960375e-10,-3.277384547419168e-09,3.0732818038489195e-09,3.110957648434608e-10,-7.269387793040598e-17,-1.3298615036896002e-18,1.2457503722595142e-14,8.958526189039605e-16,3.285119394225054e-16,4.551787598950946e-08],"joint_position_rad":[-2.019904262989916,-1.6014778092286859,1.3356012191727094,-1.304919736738932,-1.5707963267948977,-0.44910793619502615],"joint_velocity_rad_s":[1.836862211130744e-12,4.680100027268202e-14,7.881225992222771e-13,2.24345509637624e-12,3.828142668431024e-12,1.327611616077317e-14],"linkage_position_rad":[0.0029336111724424874,0.00015630156732800453,0.003193479462624304,-0.003429298942987225,0.0029336110739490813,0.00015630110477534353,0.0031978493904142704,-0.003437996889888713],"tcp_position_m":[0.08125537448652208,0.477235722621945,0.4350000000000055],"tcp_quaternion_wxyz":[-1.3996361382465658e-15,0.7071067811865448,0.7071067811865499,5.828445449132818e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993268,-4.353908560793216e-18,4.480371548925768e-17,1.160416180219813e-06],"object_linear_velocity_m_s":[-7.269387793040598e-17,-1.3298615036896002e-18,1.2457503722595142e-14],"object_angular_velocity_rad_s":[8.958518605591476e-16,3.2851401894173487e-16,4.551787598950946e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221298447,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025081,-1.30974638801672,-1.5707951084242981,-0.44910793619502365,0.0],"actuator_force":[-7.430571713484824e-10,-18.988043948647373,-20.286344740717595,-2.413325639118284,0.0006091849169251873,-8.526512829121202e-14,-0.29336111272999515],"issued_joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.940000000001387,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.96000000000141,"qpos":[-2.0199042629899218,-1.6014778092286859,1.3356012191727071,-1.304919736738938,-1.5707963267949088,-0.44910793619502615,0.0029336111706634803,0.00015630155634341824,0.0031934794725320004,-0.003429298941244253,0.0029336110754741647,0.00015630111195406735,0.003197849384154075,-0.0034379968910157968,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993265,-2.272465603332531e-19,4.40131811299027e-17,1.1607749723850102e-06],"qvel":[2.27582741677265e-12,1.6378110832338972e-14,8.45921048443892e-13,3.951938856885927e-12,7.958316744422026e-12,2.2272251171359393e-14,5.82606092282236e-10,3.7923074789175515e-09,-3.508057872411545e-09,-4.5143565426926004e-10,-3.858258760079857e-10,-2.457180360909929e-09,2.33571219524715e-09,2.1120714025925708e-10,-9.989067461858433e-17,-1.3213358401961624e-18,1.3065350828577416e-14,3.3576797667478153e-16,2.8356881913217846e-15,8.310414686157625e-08],"joint_position_rad":[-2.0199042629899218,-1.6014778092286859,1.3356012191727071,-1.304919736738938,-1.5707963267949088,-0.44910793619502615],"joint_velocity_rad_s":[2.27582741677265e-12,1.6378110832338972e-14,8.45921048443892e-13,3.951938856885927e-12,7.958316744422026e-12,2.2272251171359393e-14],"linkage_position_rad":[0.0029336111706634803,0.00015630155634341824,0.0031934794725320004,-0.003429298941244253,0.0029336110754741647,0.00015630111195406735,0.003197849384154075,-0.0034379968910157968],"tcp_position_m":[0.08125537448652811,0.477235722621945,0.43500000000000705],"tcp_quaternion_wxyz":[2.3673959221437032e-15,0.7071067811865467,0.7071067811865478,1.1471698347839338e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993265,-2.272465603332531e-19,4.40131811299027e-17,1.1607749723850102e-06],"object_linear_velocity_m_s":[-9.989067461858433e-17,-1.3213358401961624e-18,1.3065350828577416e-14],"object_angular_velocity_rad_s":[3.357614007974686e-16,2.835688970854051e-15,8.310414686157629e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221267361,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.610971831203,1.3254580468025075,-1.309746388016719,-1.5707951084242977,-0.449107936195023,0.0],"actuator_force":[-9.067662176676095e-10,-18.98804394863464,-20.286344740737604,-2.413325639285631,0.0006091845096989346,-6.536993168992922e-13,-0.29336111329078335],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950229],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.96000000000141,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":19.980000000001436,"qpos":[-2.0199042629899258,-1.6014778092286859,1.3356012191727058,-1.304919736738947,-1.5707963267949268,-0.44910793619502615,0.002933611168837486,0.00015630154619013226,0.003193479482340036,-0.0034292989407555393,0.002933611076832374,0.00015630111840218646,0.003197849377932685,-0.0034379968913045953,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993265,1.2836356947236743e-18,3.964583233929201e-17,1.1610902062094522e-06],"qvel":[4.192577879160786e-13,1.1599509763239198e-14,-1.420386811929475e-13,2.730598628209368e-12,7.000825753075853e-12,2.626448572968136e-14,-4.073915043156878e-10,-1.3928957333608473e-09,1.6183943172997301e-09,-1.0825735255350786e-10,6.248999734263794e-10,8.415020537420674e-10,-6.374681055215231e-10,-1.4382330439956582e-10,-4.816031353634035e-17,-4.563159291158191e-20,1.265595608824689e-14,1.208282936597891e-16,-1.7666180016806069e-15,9.003653758678506e-09],"joint_position_rad":[-2.0199042629899258,-1.6014778092286859,1.3356012191727058,-1.304919736738947,-1.5707963267949268,-0.44910793619502615],"joint_velocity_rad_s":[4.192577879160786e-13,1.1599509763239198e-14,-1.420386811929475e-13,2.730598628209368e-12,7.000825753075853e-12,2.626448572968136e-14],"linkage_position_rad":[0.002933611168837486,0.00015630154619013226,0.003193479482340036,-0.0034292989407555393,0.002933611076832374,0.00015630111840218646,0.003197849377932685,-0.0034379968913045953],"tcp_position_m":[0.0812553744865353,0.477235722621945,0.4350000000000087],"tcp_quaternion_wxyz":[9.30360681423088e-15,0.7071067811865485,0.7071067811865462,1.9388061546438363e-14],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993265,1.2836356947236743e-18,3.964583233929201e-17,1.1610902062094522e-06],"object_linear_velocity_m_s":[-4.816031353634035e-17,-4.563159291158191e-20,1.265595608824689e-14],"object_angular_velocity_rad_s":[1.208323967790979e-16,-1.766617721113863e-15,9.003653758678516e-09],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221238234,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312029997,1.325458046802507,-1.3097463880167186,-1.570795108424298,-0.4491079361950229,0.0],"actuator_force":[-1.5643308870494366e-10,-18.988043948632367,-20.286344740341065,-2.41332563915887,0.0006091846142908253,-1.0231815394945443e-12,-0.2933611133710353],"issued_joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950237],"issued_gripper_0_255":0.0,"command":{"t_seconds":19.980000000001436,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"},"observation_origin":"privileged_native_simulator_state"},{"t_seconds":20.00000000000146,"qpos":[-2.019904262989914,-1.6014778092286859,1.3356012191727105,-1.30491973673893,-1.5707963267948961,-0.44910793619502615,0.0029336111734718615,0.00015630157210041275,0.0031934794579486212,-0.0034292989433281794,0.002933611072966559,0.0001563011017133016,0.0031978493932481784,-0.0034379968895513315,0.08123550789956034,0.4777356024068352,0.2998922445797833,0.9999999999993263,-8.288305014071205e-18,4.3642444394864814e-17,1.1615447463720278e-06],"qvel":[1.464940769484998e-12,5.76076717160445e-14,6.491529031905414e-13,1.5020847426583834e-12,2.2666076721435523e-12,1.1283882142308203e-14,1.1376985782823071e-09,5.118917895285729e-09,-5.110650507478751e-09,-2.773889069685434e-10,-1.0932196410777151e-09,-3.2926643468865884e-09,3.0914185473258364e-09,3.153489493412325e-10,-5.281528455733304e-17,-8.619304535525924e-18,1.223545911767011e-14,-9.112968173943071e-17,-1.2308585413654781e-15,1.643839805759781e-08],"joint_position_rad":[-2.019904262989914,-1.6014778092286859,1.3356012191727105,-1.30491973673893,-1.5707963267948961,-0.44910793619502615],"joint_velocity_rad_s":[1.464940769484998e-12,5.76076717160445e-14,6.491529031905414e-13,1.5020847426583834e-12,2.2666076721435523e-12,1.1283882142308203e-14],"linkage_position_rad":[0.0029336111734718615,0.00015630157210041275,0.0031934794579486212,-0.0034292989433281794,0.002933611072966559,0.0001563011017133016,0.0031978493932481784,-0.0034379968895513315],"tcp_position_m":[0.08125537448652038,0.47723572262194475,0.4350000000000048],"tcp_quaternion_wxyz":[-1.7358965440866705e-15,0.7071067811865437,0.7071067811865503,4.178965829393317e-15],"object_position_m":[0.08123550789956034,0.4777356024068352,0.2998922445797833],"object_quaternion_wxyz":[0.9999999999993263,-8.288305014071205e-18,4.3642444394864814e-17,1.1615447463720278e-06],"object_linear_velocity_m_s":[-5.281528455733304e-17,-8.619304535525924e-18,1.223545911767011e-14],"object_angular_velocity_rad_s":[-9.112682090981705e-17,-1.2308587527920705e-15,1.643839805759784e-08],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"pad_center_separation_m":0.09313513221313047,"grasp_contact_counts":{"left":0,"right":0},"pad_normal_forces_n":{"left":0.0,"right":0.0},"table_object_contact_count":4,"unexpected_contact_count":0,"contact_count":4,"native_actuator_controls":[-2.01990426298992,-1.6109718312030001,1.3254580468025077,-1.309746388016719,-1.5707951084242981,-0.4491079361950237,0.0],"actuator_force":[-5.975380190648139e-10,-18.98804394865192,-20.2863447406653,-2.4133256390447286,0.0006091850722214076,8.526512829121202e-14,-0.29336111254431574],"issued_joint_targets_rad":null,"issued_gripper_0_255":null,"command":null,"observation_origin":"privileged_native_simulator_state"}],"actions":[{"t_seconds":0.0,"joint_targets_rad":[-1.57395476895268,-1.5782068270315737,1.5330932900466574,-1.525876888215949,-1.570792442903965,-0.003151182539434695],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.02000000000000001,"joint_targets_rad":[-1.5741934325812845,-1.5784320150863114,1.5317993929360456,-1.5243580009058926,-1.5707922940977375,-0.003389936858995906],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.04000000000000003,"joint_targets_rad":[-1.574502221729708,-1.5788047125944582,1.5282242274067193,-1.520410917272036,-1.5707920424529964,-0.003698699324337035],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.060000000000000046,"joint_targets_rad":[-1.5748052321098012,-1.5792992502074619,1.5244278489076455,-1.5161206501007178,-1.5707919244941064,-0.004001698020276947],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.08000000000000006,"joint_targets_rad":[-1.5751060242651538,-1.5797752346221186,1.5205960764092596,-1.5118136573187562,-1.5707917357633376,-0.0043024847505832384],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.10000000000000007,"joint_targets_rad":[-1.5754070159359739,-1.580233878250257,1.5167450820561321,-1.5075047834417108,-1.5707915497611769,-0.004603471071038292],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.12000000000000009,"joint_targets_rad":[-1.5757083397895266,-1.5806751298509685,1.51287570139868,-1.5031949098401773,-1.5707913699873406,-0.004904789311878566],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.1400000000000001,"joint_targets_rad":[-1.5760100040239404,-1.5810989719220325,1.5089879225947562,-1.4988840430428538,-1.5707911960133834,-0.005206447677481638],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.16000000000000011,"joint_targets_rad":[-1.5763120086068505,-1.5815053862603863,1.5050816721727136,-1.4945721289688865,-1.5707910272064594,-0.005508446161118228],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.18000000000000013,"joint_targets_rad":[-1.5766143529343273,-1.5818943533673113,1.5011568705234837,-1.4902591086215435,-1.57079086297597,-0.00581078418320375],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.20000000000000015,"joint_targets_rad":[-1.5769170363377916,-1.5822658523675752,1.4972134354963418,-1.4859449217482399,-1.5707907027845194,-0.006113461097133614],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.22000000000000017,"joint_targets_rad":[-1.5772200581124016,-1.5826198609792035,1.4932512825777509,-1.4816295070571763,-1.5707905461437328,-0.00641647621786614],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.24000000000000019,"joint_targets_rad":[-1.5775234175137907,-1.582956355480749,1.4892703248354895,-1.4773128022025648,-1.5707903926095315,-0.00671982881890887],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.2600000000000002,"joint_targets_rad":[-1.577827113752336,-1.5832753106727244,1.4852704728422728,-1.4729947437545112,-1.5707902417777961,-0.007023518126804722],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.2800000000000002,"joint_targets_rad":[-1.5781311459870229,-1.5835766998328036,1.4812516345929092,-1.468675267167955,-1.5707900932804424,-0.00732754331519922],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.3000000000000002,"joint_targets_rad":[-1.5784355133190555,-1.5838604946644972,1.4772137154154474,-1.4643543067514821,-1.570789946781869,-0.007631903498625878],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.32000000000000023,"joint_targets_rad":[-1.5787402147851113,-1.5841266652388823,1.4731566178756719,-1.4600317956358546,-1.570789801975737,-0.007936597725909423],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.34000000000000025,"joint_targets_rad":[-1.579045249349982,-1.5843751799288368,1.469080241674131,-1.4557076657420478,-1.5707896585820595,-0.008241624972956345],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.36000000000000026,"joint_targets_rad":[-1.5793506158988324,-1.5846060053352458,1.464984483534926,-1.4513818477486147,-1.5707895163445584,-0.008546984135134127],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.3800000000000003,"joint_targets_rad":[-1.5796563132287738,-1.5848191062043553,1.4608692370851277,-1.4470542710581105,-1.5707893750282622,-0.008852674018956045],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.4000000000000003,"joint_targets_rad":[-1.5799623400396468,-1.5850144453353627,1.4567343927236405,-1.4427248637623582,-1.570789234417331,-0.009158693332972657],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.4200000000000003,"joint_targets_rad":[-1.580268694923955,-1.5851919834771486,1.4525798374781054,-1.4383935526062863,-1.5707890943130725,-0.009465040677792271],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.44000000000000034,"joint_targets_rad":[-1.5805753763557375,-1.585351679212791,1.4484054548481566,-1.434060262950041,-1.5707889545321347,-0.009771714535045686],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.46000000000000035,"joint_targets_rad":[-1.5808823826782221,-1.5854934888302754,1.4442111246330853,-1.4297249187290624,-1.570788814904859,-0.010078713255118308],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.48000000000000037,"joint_targets_rad":[-1.5811897120900202,-1.5856173661774415,1.4399967227415542,-1.4253874424117499,-1.5707886752737674,-0.010386035043418437],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.5000000000000003,"joint_targets_rad":[-1.5814973626297912,-1.5857232624988966,1.4357621209806444,-1.4210477549543081,-1.570788535492181,-0.010693677945116598],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.5200000000000004,"joint_targets_rad":[-1.5818053321588377,-1.5858111262520036,1.4315071868208262,-1.4167057757522865,-1.5707883954229378,-0.011001639827802731],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.5400000000000004,"joint_targets_rad":[-1.5821136183414297,-1.5858809028985654,1.4272317831328611,-1.4123614225882266,-1.5707882549372145,-0.011309918361890076],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.5600000000000004,"joint_targets_rad":[-1.5824222186224486,-1.5859325346680393,1.4229357678917856,-1.408014611574776,-1.5707881139134192,-0.01161851099831455],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.5800000000000004,"joint_targets_rad":[-1.5827311302017015,-1.5859659602871314,1.4186189938419653,-1.4036652570924233,-1.5707879722361597,-0.011927414942920577],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.6000000000000004,"joint_targets_rad":[-1.5830403500043841,-1.5859811146695006,1.414281308115946,-1.3993132717209038,-1.570787829795261,-0.012236627126995192],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.6200000000000004,"joint_targets_rad":[-1.5833498746470656,-1.5859779285578033,1.409922551798125,-1.3949585661630954,-1.570787686484823,-0.012546144173326534],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.6400000000000005,"joint_targets_rad":[-1.5836597003978667,-1.5859563281082014,1.4055425594218005,-1.3906010491598868,-1.5707875422023034,-0.012855962356462957],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.6600000000000005,"joint_targets_rad":[-1.5839698231300026,-1.5859162344051507,1.4011411583855804,-1.3862406273942367,-1.5707873968476154,-0.013166077556339174],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.6800000000000005,"joint_targets_rad":[-1.5842802382669776,-1.5858575628908107,1.3967181682711136,-1.3818772053821013,-1.5707872503222093,-0.01347648520357455],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.7000000000000005,"joint_targets_rad":[-1.5845909407175789,-1.5857802226890958,1.3922734000391448,-1.3775106853472892,-1.5707871025281317,-0.013787180214575326],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.7200000000000005,"joint_targets_rad":[-1.5849019247979135,-1.5856841157984363,1.3878066550741095,-1.3731409670764843,-1.570786953367026,-0.014098156913705293],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.7400000000000005,"joint_targets_rad":[-1.5852131841378927,-1.585569136119608,1.383317724038656,-1.3687679477495882,-1.5707868027390524,-0.014409408939924984],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.7600000000000006,"joint_targets_rad":[-1.5855247115672684,-1.5854351682737196,1.378806385486538,-1.3643915217388913,-1.5707866505416777,-0.014720929133014303],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.7800000000000006,"joint_targets_rad":[-1.5858364965063403,-1.5852821038058078,1.3742724824737298,-1.3600116407618164,-1.5707864968433265,-0.015032706930016505],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.8000000000000006,"joint_targets_rad":[-1.5861485269383124,-1.585109817681674,1.3697158394787925,-1.3556282545941332,-1.570786341695404,-0.015344730332597936],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.8200000000000006,"joint_targets_rad":[-1.5864607914452977,-1.5849181500213654,1.3651361830997977,-1.3512412503034468,-1.5707861849531382,-0.015656987938362663],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.8400000000000006,"joint_targets_rad":[-1.586773276610989,-1.5847069223657921,1.360533215077152,-1.3468505087453604,-1.5707860264535525,-0.015969466349602356],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.8600000000000007,"joint_targets_rad":[-1.5870859668343043,-1.5844759334343406,1.355906609288133,-1.3424559057975982,-1.5707858660214034,-0.016282149987095006],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.8800000000000007,"joint_targets_rad":[-1.5873988438240276,-1.5842249538695015,1.351256005908172,-1.338057311793554,-1.5707857034653994,-0.01659502058559511],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.9000000000000007,"joint_targets_rad":[-1.5877118859134844,-1.583953719190485,1.346581003348338,-1.333654590530543,-1.5707855385722076,-0.016908056509701234],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.9200000000000007,"joint_targets_rad":[-1.5880250671297234,-1.583661920152677,1.3418811472227266,-1.3292475979113851,-1.5707853710982476,-0.01722123182466794],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.9400000000000007,"joint_targets_rad":[-1.5883383559022437,-1.5833491892384999,1.3371559149085328,-1.324836180061181,-1.570785200758204,-0.017534515007456647],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.9600000000000007,"joint_targets_rad":[-1.5886517132233706,-1.5830150811962302,1.3324046933306604,-1.3204201706423837,-1.5707850272084127,-0.01784786711046194],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":0.9800000000000008,"joint_targets_rad":[-1.588720128801455,-1.5827824348825397,1.331194645407641,-1.3194264282156527,-1.5707856942340082,-0.01791684118981242],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.0000000000000007,"joint_targets_rad":[-1.5887223433895057,-1.5826062750751861,1.3309713117578499,-1.3193595235853022,-1.5707863889837723,-0.0179197160036804],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.0199999999999985,"joint_targets_rad":[-1.5887240639893123,-1.5824596296511544,1.3307840028899172,-1.3193008455559057,-1.5707870348160344,-0.017922035505688425],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.0399999999999963,"joint_targets_rad":[-1.5887253536652115,-1.5823381165934383,1.3306275906695362,-1.3192495089986835,-1.5707876871373216,-0.01792386771012624],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.059999999999994,"joint_targets_rad":[-1.588726301596546,-1.5822373690285778,1.3304968972574385,-1.319204573902169,-1.5707883348850973,-0.017925307006773222],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.0799999999999919,"joint_targets_rad":[-1.5887269817924699,-1.5821537377364294,1.330387559319099,-1.319165207490506,-1.5707889655123919,-0.01792643214713799],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.0999999999999897,"joint_targets_rad":[-1.5887274535817533,-1.5820842193343272,1.3302959570567383,-1.3191306829915739,-1.5707895700812164,-0.01792730677635625],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.1199999999999875,"joint_targets_rad":[-1.5887277642278015,-1.5820263459208659,1.3302190933842926,-1.3191003687028686,-1.5707901428501447,-0.017927982084793948],"gripper_0_255":0.0,"phase":"approach"},{"t_seconds":1.1399999999999852,"joint_targets_rad":[-1.5887279512693757,-1.5819780893460815,1.330154487288853,-1.3190737167500735,-1.5707906805047316,-0.01792849918214332],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.159999999999983,"joint_targets_rad":[-1.587659944950853,-1.593196474209152,1.405252252398614,-1.3825857101581684,-1.5708219077952814,-0.01686324837420799],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.1799999999999808,"joint_targets_rad":[-1.5877339403997095,-1.5933170010577649,1.4041190090916436,-1.3813372902420824,-1.5708213006483076,-0.016937116399428576],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.1999999999999786,"joint_targets_rad":[-1.587742081480743,-1.5934689078397157,1.4050784549870934,-1.3821548954063725,-1.5708200690524508,-0.016945277103336976],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.2199999999999764,"joint_targets_rad":[-1.587739593915416,-1.594015246498642,1.409081555408532,-1.3856162774346805,-1.5708194860964686,-0.01694283398222104],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.2399999999999742,"joint_targets_rad":[-1.587745594683142,-1.5947935490865963,1.4141965242758672,-1.3899524295985106,-1.5708195009474812,-0.016948860878521328],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.259999999999972,"joint_targets_rad":[-1.5877605712309948,-1.5955493517402146,1.4193368021326054,-1.3943362058984996,-1.570819535581877,-0.016963839570661048],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.2799999999999698,"joint_targets_rad":[-1.587776182025356,-1.596286961152156,1.4244598356788847,-1.3987210834606207,-1.570819551902498,-0.016979450995005356],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.2999999999999676,"joint_targets_rad":[-1.5877918178667825,-1.5970064417471046,1.4295614053680583,-1.4031027898262043,-1.5708195485628975,-0.016995087637659313],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.3199999999999654,"joint_targets_rad":[-1.5878074327249885,-1.597707858357082,1.4346414164592203,-1.407481149768436,-1.5708195274111714,-0.017010703520174142],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.3399999999999632,"joint_targets_rad":[-1.5878230297490619,-1.598391264723235,1.4397000903977601,-1.4118563147706986,-1.5708194903748476,-0.017026301720638553],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.359999999999961,"joint_targets_rad":[-1.5878386155376736,-1.5990567106334348,1.444737663598283,-1.4162284567165742,-1.570819439211576,-0.017041888771988558],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.3799999999999588,"joint_targets_rad":[-1.5878541964173014,-1.5997042425042802,1.4497543628063525,-1.4205977426868064,-1.570819375504266,-0.01705747094803879],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.3999999999999566,"joint_targets_rad":[-1.5878697781888254,-1.6003339035564341,1.4547504039233103,-1.4249643334712563,-1.570819300675948,-0.017073054008424876],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.4199999999999544,"joint_targets_rad":[-1.5878853661588237,-1.6009457339479902,1.4597259926912132,-1.4293283839841502,-1.5708192160050092,-0.01708864322786081],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.4399999999999522,"joint_targets_rad":[-1.5879009651894969,-1.601539770899414,1.4646813254555564,-1.4336900437782845,-1.5708191226392192,-0.017104243444313525],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.45999999999995,"joint_targets_rad":[-1.5879165797457135,-1.6021160488117905,1.4696165898651485,-1.438049457515501,-1.57081902160851,-0.01711985910459923],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.4799999999999478,"joint_targets_rad":[-1.587932213937855,-1.6026745993778362,1.4745319655038887,-1.442406765387544,-1.5708189138365833,-0.017135494306032627],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.4999999999999456,"joint_targets_rad":[-1.587947871560768,-1.6032154516852533,1.4794276244599083,-1.446762103492061,-1.570818800151431,-0.0171511528343853],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.5199999999999434,"joint_targets_rad":[-1.5879635561292167,-1.6037386323122274,1.4843037318378685,-1.4511156041686966,-1.5708186812948641,-0.017166838198531913],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.5399999999999412,"joint_targets_rad":[-1.5879792709102065,-1.6042441654150348,1.4891604462197912,-1.4554673962997877,-1.5708185579311262,-0.017182553662094924],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.559999999999939,"joint_targets_rad":[-1.5879950189525156,-1.6047320728078578,1.4939979200793199,-1.4598176055796168,-1.5708184306546762,-0.017198302272434116],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.5799999999999368,"joint_targets_rad":[-1.5880108031137365,-1.6052023740349664,1.498816300153823,-1.4641663547557406,-1.5708182999972116,-0.017214086887234015],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.5999999999999346,"joint_targets_rad":[-1.588026626085116,-1.605655086435487,1.5036157277783584,-1.4685137638455246,-1.5708181664340053,-0.017229910198980403],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.6199999999999324,"joint_targets_rad":[-1.588042490414445,-1.6060902252009706,1.508396339185062,-1.4728599503306268,-1.5708180303896115,-0.01724577475754816],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.6399999999999302,"joint_targets_rad":[-1.5880583985272387,-1.6065078034259785,1.513158265771163,-1.4772050293318797,-1.5708178922430107,-0.017261682991141024],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.659999999999928,"joint_targets_rad":[-1.588074352746429,-1.6069078321518973,1.5179016343384926,-1.4815491137667458,-1.5708177523322384,-0.01727763722578538],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.6799999999999258,"joint_targets_rad":[-1.5880903553107748,-1.6072903204041316,1.522626567307,-1.4858923144912697,-1.5708176109585519,-0.01729363970358282],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.6999999999999236,"joint_targets_rad":[-1.588106408392179,-1.6076552752227984,1.5273331829044823,-1.4902347404282135,-1.570817468390181,-0.017309692599903302],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.7199999999999214,"joint_targets_rad":[-1.5881225141121107,-1.6080027016869913,1.5320215953344722,-1.4945764986829222,-1.5708173248656954,-0.01732579803969816],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.7399999999999192,"joint_targets_rad":[-1.588138674557297,-1.6083326029326073,1.5366919149239395,-1.4989176946482334,-1.5708171805970408,-0.01734195811312007],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.759999999999917,"joint_targets_rad":[-1.5881548917948694,-1.6086449801636693,1.541344248252214,-1.5032584320996605,-1.5708170357722588,-0.017358174890596195],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.7799999999999148,"joint_targets_rad":[-1.5881711678871302,-1.6089398326569813,1.5459786982622974,-1.5075988132818918,-1.5708168905579383,-0.01737445043754988],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.7999999999999126,"joint_targets_rad":[-1.588187504906118,-1.609217157759868,1.550595364355486,-1.5119389389875677,-1.570816745101413,-0.017390786828922974],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.8199999999999104,"joint_targets_rad":[-1.58820390494815,-1.6094769508806381,1.5551943424700143,-1.5162789086291972,-1.5708165995327394,-0.017407186163685497],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.8399999999999082,"joint_targets_rad":[-1.5882203701485287,-1.6097192054712792,1.559775725144157,-1.520618820304956,-1.5708164539664673,-0.017423650579518876],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.859999999999906,"joint_targets_rad":[-1.5882369026966143,-1.6099439130017594,1.5643396015640387,-1.5249587708590824,-1.5708163085032336,-0.017440182267862786],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.8799999999999037,"joint_targets_rad":[-1.5882535048514794,-1.6101510629251192,1.5688860575960824,-1.5292988559374614,-1.5708161632311917,-0.01745678348955539],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.8999999999999015,"joint_targets_rad":[-1.5882701789583922,-1.6103406426323543,1.5734151758038046,-1.5336391700389829,-1.5708160182272886,-0.017473456591296052],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.9199999999998993,"joint_targets_rad":[-1.588286927466393,-1.6105126373958225,1.5779270354483295,-1.5379798065631876,-1.570815873558417,-0.017490204023212066],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.9399999999998971,"joint_targets_rad":[-1.5883037529472903,-1.6106670302996269,1.5824217124716493,-1.5423208578546748,-1.5708157292824387,-0.01750702835783215],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.959999999999895,"joint_targets_rad":[-1.588320658239263,-1.610803792263433,1.586899240049134,-1.546662385846435,-1.5708155854362413,-0.01752393243314719],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.9799999999998927,"joint_targets_rad":[-1.588337646308562,-1.6109228813289995,1.5913596005717927,-1.551004414765699,-1.5708154420349103,-0.01754091921465877],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":1.9999999999998905,"joint_targets_rad":[-1.5883547198293653,-1.6110242770130077,1.5958028614213877,-1.555347032116431,-1.5708152991182542,-0.017557991377083828],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.0199999999998886,"joint_targets_rad":[-1.5883718820633617,-1.611107956106617,1.600229088300252,-1.5596903264862634,-1.570815156722169,-0.017575152181279776],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.0399999999998863,"joint_targets_rad":[-1.5883891365428089,-1.6111738928346702,1.6046383435557452,-1.5640343857225654,-1.5708150148769549,-0.01759240515813364],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.059999999999884,"joint_targets_rad":[-1.5884064870883976,-1.611222058681809,1.6090306858738261,-1.5683792967964054,-1.570814873607718,-0.01760975412643854],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.079999999999882,"joint_targets_rad":[-1.588423937851878,-1.6112524221841082,1.6134061700963716,-1.5727251458242408,-1.570814732934868,-0.017627203235466068],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.0999999999998797,"joint_targets_rad":[-1.588441493367633,-1.61126494867746,1.6177648470046504,-1.5770720180994833,-1.5708145928745594,-0.01764475701647577],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.1199999999998775,"joint_targets_rad":[-1.5884591586138204,-1.6112595999929573,1.6221067630502164,-1.5814199981249921,-1.5708144534390782,-0.017662420443783928],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.1399999999998753,"joint_targets_rad":[-1.5884769390854465,-1.611236334086378,1.6264319600203505,-1.5857691696465313,-1.5708143146371722,-0.017680199007728936],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.159999999999873,"joint_targets_rad":[-1.5884948408825332,-1.6111951045848603,1.6307404746218452,-1.5901196156878747,-1.5708141764743286,-0.01769809880271681],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.179999999999871,"joint_targets_rad":[-1.5885128708175957,-1.6111358602284234,1.6350323379617309,-1.5944714185885434,-1.5708140389529928,-0.017716126634538094],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.1999999999998687,"joint_targets_rad":[-1.5885310365480596,-1.6110585441763445,1.6393075748961505,-1.5988246600453937,-1.5708139020727367,-0.01773429015259303],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.2199999999998665,"joint_targets_rad":[-1.5885493467412948,-1.6109630931377061,1.6435662032082479,-1.6031794211596837,-1.570813765830361,-0.01775259801466002],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.2399999999998643,"joint_targets_rad":[-1.588567811282849,-1.6108494362700039,1.6478082325610495,-1.6075357824918226,-1.5708136302199343,-0.017771060094801994],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.259999999999862,"joint_targets_rad":[-1.5885864415427686,-1.6107174937671653,1.6520336631495565,-1.611893824126819,-1.570813495232748,-0.017789687749257717],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.27999999999986,"joint_targets_rad":[-1.5886052507213098,-1.61056717502473,1.6562424839438206,-1.6162536257547302,-1.570813360857175,-0.017808494161570338],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.2999999999998577,"joint_targets_rad":[-1.5886242543051845,-1.6103983762186056,1.6604346703652284,-1.6206152667722857,-1.5708132270783965,-0.01782749479806303],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.3199999999998555,"joint_targets_rad":[-1.588643470680961,-1.6102109770535442,1.6646101811607368,-1.6249788264149045,-1.5708130938779572,-0.01784670802017792],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.3399999999998533,"joint_targets_rad":[-1.588662921977259,-1.6100048363081656,1.6687689541149457,-1.6293443839330748,-1.5708129612330766,-0.017866155925178987],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.359999999999851,"joint_targets_rad":[-1.5886826352491865,-1.609779785588453,1.6729109000324118,-1.6337120188351095,-1.5708128291156014,-0.01788586552845531],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.379999999999849,"joint_targets_rad":[-1.5887026441910168,-1.6095356203308528,1.677035894064583,-1.638081811231997,-1.5708126974904177,-0.017905870473047834],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.3999999999998467,"joint_targets_rad":[-1.588709579295057,-1.6093467909444656,1.6780922868518369,-1.6393421839003817,-1.5708114698072149,-0.01791283227095109],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.4199999999998445,"joint_targets_rad":[-1.5887111941068088,-1.6092062673665728,1.6779750202974293,-1.6393848640736441,-1.5708099462648637,-0.017914484130347613],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.4399999999998423,"joint_targets_rad":[-1.5887126352882444,-1.6090917834082161,1.677881101955156,-1.6394229230120352,-1.5708085868659114,-0.017915959409499034],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.45999999999984,"joint_targets_rad":[-1.588713923822727,-1.60899937508315,1.677806763869579,-1.6394567474153947,-1.570807369247992,-0.017917279044640123],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.479999999999838,"joint_targets_rad":[-1.5887150772914942,-1.6089249432155226,1.6777481786679707,-1.6394867908174025,-1.5708062773666391,-0.017918460850728905],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.4999999999998357,"joint_targets_rad":[-1.5887161109694632,-1.6088650968134086,1.6777022143062577,-1.639513472469898,-1.570805297394189,-0.01791952033708385],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.5199999999998335,"joint_targets_rad":[-1.588717038206423,-1.6088170717097319,1.677666344540008,-1.6395371728017822,-1.570804417183597,-0.017920471073452578],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.5399999999998313,"joint_targets_rad":[-1.588717870704665,-1.608778618523498,1.6776385347499538,-1.6395582335633034,-1.5708036260246883,-0.017921324965985905],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.559999999999829,"joint_targets_rad":[-1.5887186187496216,-1.6087479079076732,1.6776171470858274,-1.6395769596065812,-1.570802914452495,-0.017922092487902285],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.579999999999827,"joint_targets_rad":[-1.5887192914036699,-1.608723452948269,1.6776008638611735,-1.639593621496219,-1.570802274085774,-0.01792278287381312],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.5999999999998247,"joint_targets_rad":[-1.588719896669764,-1.6087040457943298,1.6775886257820374,-1.6396084585025636,-1.5708016974894978,-0.017923404284134484],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.6199999999998225,"joint_targets_rad":[-1.5887204416301788,-1.6086887059316564,1.6775795821057236,-1.6396216816966043,-1.5708011780571662,-0.017923963944755577],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.6399999999998203,"joint_targets_rad":[-1.5887209325646336,-1.6086766379715276,1.6775730503990796,-1.6396334769733716,-1.570800709909645,-0.017924468266150205],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.659999999999818,"joint_targets_rad":[-1.5887213750512346,-1.6086671972132343,1.6775684840306855,-1.6396440079028802,-1.5708002878078724,-0.017924922945329318],"gripper_0_255":0.0,"phase":"descend"},{"t_seconds":2.679999999999816,"joint_targets_rad":[-1.5887217740530755,-1.6086598615567762,1.6775654459008424,-1.639653418355494,-1.570799907077262,-0.017925333053422306],"gripper_0_255":0.0,"phase":"close"},{"t_seconds":2.6999999999998137,"joint_targets_rad":[-1.588722133992779,-1.6086542086017868,1.677563587207354,-1.6396618348797205,-1.5707995635420262,-0.017925703111167892],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.7199999999998115,"joint_targets_rad":[-1.5887224588215134,-1.6086499092304005,1.677562642146812,-1.6396693696951563,-1.5707992533844604,-0.01792603714897828],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.7399999999998093,"joint_targets_rad":[-1.588722752069808,-1.6086466752721622,1.67756237815196,-1.6396761203257848,-1.570798973355292,-0.017926338788493475],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.759999999999807,"joint_targets_rad":[-1.588723016875737,-1.6086442796099578,1.677562615954784,-1.6396821726636541,-1.5707987204859029,-0.017926611244525263],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.779999999999805,"joint_targets_rad":[-1.588723256067684,-1.6086425449127764,1.6775632195049826,-1.639687602882818,-1.570798492078915,-0.017926857411432212],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.7999999999998026,"joint_targets_rad":[-1.5887234721795962,-1.6086413289672856,1.6775640823943954,-1.6396924783027462,-1.570798285715349,-0.017927079882837364],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.8199999999998004,"joint_targets_rad":[-1.5887236674846288,-1.608640517622088,1.6775651215773448,-1.6396968584616622,-1.5707980992245507,-0.01792728098623691],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.8399999999997982,"joint_targets_rad":[-1.5887238440238454,-1.6086400194361499,1.6775662726722615,-1.6397007960758359,-1.5707979306571545,-0.01792746281221447],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.859999999999796,"joint_targets_rad":[-1.5887240036313637,-1.6086397613546732,1.6775674861980694,-1.639704337877754,-1.570797778261218,-0.017927627240016238],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.879999999999794,"joint_targets_rad":[-1.5887241479565226,-1.6086396851925422,1.6775687245387503,-1.6397075253462576,-1.5707976404611448,-0.017927775960114807],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.8999999999997916,"joint_targets_rad":[-1.5887242784834705,-1.6086397447738288,1.6775699594953721,-1.6397103953422745,-1.570797515839047,-0.017927910494146708],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.9199999999997894,"joint_targets_rad":[-1.5887243965485096,-1.6086399036064463,1.6775711703142009,-1.6397129806624802,-1.5707974031182281,-0.01792803221258739],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.9399999999997872,"joint_targets_rad":[-1.5887245033554778,-1.6086401329933884,1.6775723421006832,-1.6397153105217648,-1.5707973011485266,-0.01792814235042441],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.959999999999785,"joint_targets_rad":[-1.5887245999894204,-1.608640410499942,1.6775734645460074,-1.6397174109740158,-1.570797208893279,-0.017928242021103546],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.979999999999783,"joint_targets_rad":[-1.5887246874287535,-1.608640718711068,1.6775745309067414,-1.6397193052795134,-1.5707971254177164,-0.017928332228931632],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":2.9999999999997806,"joint_targets_rad":[-1.5887247665561042,-1.6086410442250973,1.677575537189148,-1.6397210142260954,-1.5707970498786168,-0.01792841388014911],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.0199999999997784,"joint_targets_rad":[-1.5887248381679904,-1.6086413768398056,1.6775764814989056,-1.6397225564103057,-1.5707969815150606,-0.017928487792804364],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.039999999999776,"joint_targets_rad":[-1.5887249029834645,-1.6086417088949663,1.6775773635243352,-1.6397239484838888,-1.5707969196401754,-0.01792855470558477],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.059999999999774,"joint_targets_rad":[-1.5887249616518484,-1.6086420347420864,1.6775781841272193,-1.6397252053702096,-1.57079686363374,-0.017928615285722677],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.079999999999772,"joint_targets_rad":[-1.588725014180831,-1.6086423562043763,1.6775789428341197,-1.6397263248901401,-1.570796813866621,-0.017928669580484696],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.0999999999997696,"joint_targets_rad":[-1.5887250551859562,-1.608642780493386,1.6775797314925154,-1.639727325957686,-1.5707967866456654,-0.017928712033052668],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.1199999999997674,"joint_targets_rad":[-1.5887250972910314,-1.6086431608980052,1.6775804506316745,-1.6397282531201205,-1.5707967488216164,-0.017928754809736075],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.139999999999765,"joint_targets_rad":[-1.5887251365078743,-1.608643487018409,1.6775810819273396,-1.6397290818656773,-1.5707967113099435,-0.017928794803247078],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.159999999999763,"joint_targets_rad":[-1.5887251716001085,-1.6086437964867697,1.6775816617766681,-1.639729827910955,-1.5707966784600045,-0.01792883045603215],"gripper_0_255":180.0,"phase":"close"},{"t_seconds":3.179999999999761,"joint_targets_rad":[-1.588725203284801,-1.608644084492561,1.67758219228169,-1.639730504214449,-1.5707966488777536,-0.017928862561614897],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.1999999999997586,"joint_targets_rad":[-1.5887390086898203,-1.611708575105315,1.633448255683719,-1.5927449684344193,-1.570782042144389,-0.017942640458218254],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.2199999999997564,"joint_targets_rad":[-1.5887380593035878,-1.6118130973344014,1.6323928905596443,-1.5915840023724293,-1.570782100671662,-0.017941698656562945],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.239999999999754,"joint_targets_rad":[-1.5887423975565367,-1.6118816310001094,1.628828304378438,-1.5879499814117157,-1.5707821067735015,-0.017946031168406623],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.259999999999752,"joint_targets_rad":[-1.5887473534074072,-1.6119585829982204,1.624594655906416,-1.5836397951217052,-1.5707819909319085,-0.01795097927501544],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.27999999999975,"joint_targets_rad":[-1.5887474749475243,-1.612017831822474,1.6203208093298926,-1.579307311392953,-1.5707818503656805,-0.01795110461683586],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.2999999999997476,"joint_targets_rad":[-1.5887473629010975,-1.6120594022010741,1.6160291489897902,-1.5749747028028647,-1.5707817093000842,-0.017950996594258584],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.3199999999997454,"joint_targets_rad":[-1.5887472505637144,-1.6120832972452537,1.61172092011426,-1.5706432024865564,-1.570781568922572,-0.017950887911228],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.339999999999743,"joint_targets_rad":[-1.5887471496432428,-1.6120895258947496,1.6073961243677952,-1.566312803328787,-1.570781429146747,-0.017950790278774473],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.359999999999741,"joint_targets_rad":[-1.588747060261519,-1.6120780962669268,1.6030546924290556,-1.5619834285126144,-1.5707812898335594,-0.017950703850577468],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.3799999999997388,"joint_targets_rad":[-1.5887469822147797,-1.6120490153786762,1.598696549492298,-1.5576549968141917,-1.5707811508545801,-0.017950628453108023],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.3999999999997366,"joint_targets_rad":[-1.5887469152768567,-1.6120022890336136,1.5943216186981781,-1.5533274261251186,-1.5707810120924623,-0.017950563888000252],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.4199999999997344,"joint_targets_rad":[-1.5887468592214187,-1.6119379217947485,1.5899298211938233,-1.5490006335435984,-1.5707808734397974,-0.017950509954396968],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.439999999999732,"joint_targets_rad":[-1.58874681382849,-1.611855916975328,1.5855210761169551,-1.544674535371814,-1.5707807347980514,-0.017950466455614333],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.45999999999973,"joint_targets_rad":[-1.5887467788838456,-1.6117562766243532,1.581095300565334,-1.5403490471036412,-1.5707805960765848,-0.017950433198701207],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.4799999999997278,"joint_targets_rad":[-1.5887467541778502,-1.6116390015088409,1.5766524095566818,-1.536024083405787,-1.5707804571917727,-0.017950409993426994],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.4999999999997256,"joint_targets_rad":[-1.588746739504405,-1.6115040910943328,1.5721923159873425,-1.5316995580990973,-1.57078031806622,-0.017950396651379978],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.5199999999997234,"joint_targets_rad":[-1.5887467346599677,-1.6113515435235437,1.5677149305897637,-1.5273753841402546,-1.5707801786280624,-0.017950392985126767],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.539999999999721,"joint_targets_rad":[-1.588746739442614,-1.6111813555930503,1.563220161888185,-1.5230514736033753,-1.5707800388103383,-0.01795039880739976],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.559999999999719,"joint_targets_rad":[-1.5887467536511382,-1.6109935227280336,1.5587079161524382,-1.5187277376614408,-1.5707798985504278,-0.017950413930327085],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.5799999999997167,"joint_targets_rad":[-1.5887467766542962,-1.610788069586241,1.5541781958189291,-1.51440415408462,-1.5707797578154366,-0.017950437735476187],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.5999999999997145,"joint_targets_rad":[-1.588746808524006,-1.610565001182217,1.5496309459216822,-1.510080663068474,-1.5707796165602728,-0.01795047030489601],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.6199999999997123,"joint_targets_rad":[-1.5887468492616936,-1.6103243082513203,1.545066066641195,-1.5057571743769471,-1.5707794747298647,-0.01795051164949864],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.63999999999971,"joint_targets_rad":[-1.5887468986547906,-1.610065980279853,1.5404834552619207,-1.5014335961192418,-1.570779332271206,-0.017950561565829717],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.659999999999708,"joint_targets_rad":[-1.5887469564794399,-1.6097900051891316,1.5358830064831823,-1.4971098353722685,-1.5707791891338132,-0.017950619838336283],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.6799999999997057,"joint_targets_rad":[-1.588747022508518,-1.6094963693004727,1.5312646124260587,-1.4927857982238057,-1.5707790452694457,-0.017950686247441307],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.6999999999997035,"joint_targets_rad":[-1.588747096511262,-1.6091850572933444,1.5266281625723692,-1.4884613897548733,-1.5707789006318025,-0.01795076056923341],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.7199999999997013,"joint_targets_rad":[-1.5887471782523417,-1.6088560521607593,1.5219735436975066,-1.4841365140186118,-1.5707787551762424,-0.017950842574606673],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.739999999999699,"joint_targets_rad":[-1.5887472674908907,-1.6085093351615098,1.5173006397995386,-1.4798110740184638,-1.5707786088595315,-0.01795093202834844],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.759999999999697,"joint_targets_rad":[-1.5887473639795267,-1.608144885769025,1.5126093320245153,-1.4754849716858471,-1.5707784616396074,-0.017951028688215385],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.7799999999996947,"joint_targets_rad":[-1.5887474674633326,-1.6077626816165447,1.507899498587615,-1.4711581078572518,-1.5707783134753672,-0.017951132303961868],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.7999999999996925,"joint_targets_rad":[-1.5887475776788125,-1.607362698438314,1.5031710146898047,-1.4668303822507487,-1.5707781643264687,-0.01795124261634075],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.8199999999996903,"joint_targets_rad":[-1.5887476943527923,-1.6069449100064146,1.498423752429572,-1.4625016934418686,-1.5707780141531464,-0.01795135935604922],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.839999999999688,"joint_targets_rad":[-1.5887478172012681,-1.6065092880628054,1.493657580709262,-1.4581719388388052,-1.5707778629160423,-0.017951482242608025],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.859999999999686,"joint_targets_rad":[-1.5887479459281793,-1.6060558022460862,1.4888723651354996,-1.453841014656939,-1.5707777105760434,-0.017951610983177102],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.8799999999996837,"joint_targets_rad":[-1.5887480802241072,-1.6055844200124043,1.4840679679130593,-1.449508815892605,-1.5707775570941331,-0.01795174527127884],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.8999999999996815,"joint_targets_rad":[-1.5887482197648695,-1.6050951065498547,1.4792442477315213,-1.4451752362961294,-1.5707774024312446,-0.017951884785424883],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.9199999999996793,"joint_targets_rad":[-1.5887483642100009,-1.6045878246855985,1.474401059643875,-1.4408401683440546,-1.5707772465481253,-0.01795202918762411],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.939999999999677,"joint_targets_rad":[-1.5887485132011094,-1.604062534784815,1.4695382549361629,-1.4365035032105524,-1.5707770894052016,-0.017952178121760646],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.959999999999675,"joint_targets_rad":[-1.5887486663600712,-1.6035191946404492,1.4646556809870996,-1.4321651307379983,-1.57077693096245,-0.0179523312118134],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.9799999999996727,"joint_targets_rad":[-1.588748823287053,-1.602957759352535,1.459753181116402,-1.4278249394066729,-1.5707767711792662,-0.01795248805989971],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":3.9999999999996705,"joint_targets_rad":[-1.5887489835583288,-1.6023781811956692,1.4548305944203845,-1.4234828163035715,-1.5707766100143385,-0.017952648244107364],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.019999999999677,"joint_targets_rad":[-1.5887491467238617,-1.6017804094729493,1.4498877555931056,-1.4191386470903082,-1.570776447425516,-0.017952811316100537],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.039999999999684,"joint_targets_rad":[-1.588749312304607,-1.6011643903543864,1.4449244947310547,-1.4147923159701041,-1.5707762833696748,-0.01795297679843602],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.0599999999996905,"joint_targets_rad":[-1.5887494797895036,-1.600530066697406,1.4399406371189754,-1.4104437056538315,-1.5707761178025814,-0.01795314418157011],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.079999999999697,"joint_targets_rad":[-1.5887496486320898,-1.599877377846606,1.4349360029939788,-1.4060926973251369,-1.5707759506787444,-0.017953312920495092],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.099999999999704,"joint_targets_rad":[-1.5887498182466924,-1.5992062594093506,1.4299104072845408,-1.4017391706046451,-1.570775781951262,-0.01795348243093633],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.119999999999711,"joint_targets_rad":[-1.5887499880041078,-1.598516643003067,1.4248636593202246,-1.3973830035132453,-1.5707756115716531,-0.017953652085052823],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.139999999999717,"joint_targets_rad":[-1.5887501572266947,-1.5978084559692176,1.4197955625071639,-1.3930240724345262,-1.5707754394896765,-0.017953821206542597],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.159999999999724,"joint_targets_rad":[-1.5887503251827633,-1.5970816210477956,1.4147059139631681,-1.3886622520764067,-1.5707752656531269,-0.01795398906504971],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.179999999999731,"joint_targets_rad":[-1.588750491080146,-1.5963360560047462,1.409594504104925,-1.3842974154320367,-1.570775090007611,-0.01795415486974473],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.199999999999737,"joint_targets_rad":[-1.5887506540587772,-1.5955716732028982,1.4044611161779865,-1.3799294337401091,-1.5707749124962929,-0.017954317761927758],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.219999999999744,"joint_targets_rad":[-1.588750813182103,-1.5947883791046071,1.3993055257178904,-1.3755581764447682,-1.5707747330596002,-0.017954476806448672],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.239999999999751,"joint_targets_rad":[-1.588750967427076,-1.5939860736912295,1.394127499927723,-1.3711835111553285,-1.5707745516348872,-0.017954630981725648],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.259999999999757,"joint_targets_rad":[-1.5887511156724414,-1.593164649780483,1.3889267969534878,-1.3668053036061814,-1.570774368156039,-0.017954779168049877],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.279999999999764,"joint_targets_rad":[-1.5887512566849422,-1.5923239922173404,1.3837031650333065,-1.3624234176173176,-1.5707741825530042,-0.01795492013381685],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.299999999999771,"joint_targets_rad":[-1.5887513891029783,-1.591463976906836,1.3784563414894189,-1.3580377150561633,-1.5707739947512356,-0.017955052519207905],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.319999999999777,"joint_targets_rad":[-1.5887515114171173,-1.5905844696472529,1.3731860515221939,-1.3536480558015662,-1.5707738046710125,-0.017955174816739503],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.339999999999784,"joint_targets_rad":[-1.5887516219466942,-1.5896853247084972,1.367892006752092,-1.349254297711235,-1.5707736122266132,-0.017955285347895],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.359999999999791,"joint_targets_rad":[-1.5887517188115023,-1.5887663830813135,1.3625739034367552,-1.34485629659436,-1.5707734173252863,-0.01795538223486558],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.379999999999797,"joint_targets_rad":[-1.5887517998972818,-1.5878274702957529,1.3572314202638631,-1.3404539061919303,-1.5707732198659612,-0.017955463366091214],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.399999999999804,"joint_targets_rad":[-1.588751862813276,-1.5868683936678774,1.3518642155819351,-1.3360469781683433,-1.5707730197376049,-0.01795552635388633],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.419999999999811,"joint_targets_rad":[-1.5887519048395782,-1.5858889387754505,1.3464719238745224,-1.3316353621195907,-1.570772816817099,-0.01795556848187155],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.439999999999817,"joint_targets_rad":[-1.588751922861175,-1.5848888648756247,1.3410541511978133,-1.3272189056058532,-1.5707726109664462,-0.017955586639125127],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.459999999999824,"joint_targets_rad":[-1.588751913284487,-1.5838678988421042,1.3356104691697959,-1.3227974542204395,-1.570772402029034,-0.01795557723685961],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.479999999999831,"joint_targets_rad":[-1.5887518719306575,-1.5828257269844328,1.3301404068902813,-1.3183708517135992,-1.5707721898245361,-0.017955536101889668],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.4999999999998375,"joint_targets_rad":[-1.5887517938976592,-1.5817619837609742,1.3246434398299811,-1.3139389402008306,-1.5707719741417834,-0.017955458338971633],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.519999999999844,"joint_targets_rad":[-1.5887516733803033,-1.5806762358034565,1.3191189741505696,-1.30950156050455,-1.570771754728552,-0.017955338151115486],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.539999999999851,"joint_targets_rad":[-1.5887508716071495,-1.5798493323344773,1.3152141012713865,-1.3064172108544745,-1.5707722562177524,-0.017954538406829635],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.5599999999998575,"joint_targets_rad":[-1.5887486901510017,-1.579650708044842,1.3149530824018654,-1.3063318259842047,-1.570774324259935,-0.01795236269448149],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.579999999999864,"joint_targets_rad":[-1.5887466739111746,-1.5794831300685996,1.3147313128974245,-1.3062565511505335,-1.570776235644481,-0.01795035193018079],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.599999999999871,"joint_targets_rad":[-1.5887448190215563,-1.579343708988977,1.3145452503130453,-1.306190655206802,-1.5707779948365546,-0.017948501580528815],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.6199999999998775,"joint_targets_rad":[-1.5887431149484863,-1.5792277129952137,1.3143891497402336,-1.3061329757815576,-1.570779611451389,-0.01794680117417852],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.639999999999884,"joint_targets_rad":[-1.588741551590136,-1.579131095116925,1.3142580628404175,-1.3060824761071828,-1.5707810949293683,-0.017945240710189492],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.659999999999891,"joint_targets_rad":[-1.5887401191235093,-1.5790505061609021,1.3141478499087833,-1.3060382396698178,-1.5707824544896032,-0.017943810465564456],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.679999999999898,"joint_targets_rad":[-1.5887388080671718,-1.5789831848449634,1.3140550615198892,-1.305999460996403,-1.570783699050892,-0.017942501052485963],"gripper_0_255":180.0,"phase":"lift"},{"t_seconds":4.699999999999904,"joint_targets_rad":[-1.588737609343944,-1.578926854965007,1.3139768257335303,-1.3059654353356844,-1.5707848371662132,-0.017941303479347706],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.719999999999911,"joint_targets_rad":[-1.6265074034200333,-1.5938403722340815,1.3452351581241846,-1.3221630156912485,-1.5708899767610744,-0.05562427608680598],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.739999999999918,"joint_targets_rad":[-1.6277459441040987,-1.593918892259759,1.343905688811815,-1.320756042296852,-1.5708617832429523,-0.056863209301875633],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.759999999999924,"joint_targets_rad":[-1.6311147365194836,-1.5948034872474384,1.3443413104641015,-1.3203074314479215,-1.5708558499238632,-0.060232197004916645],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.779999999999931,"joint_targets_rad":[-1.634745145095421,-1.5956704277730767,1.3450115824183277,-1.32011138399601,-1.5708596363284786,-0.06386243819476625],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.799999999999938,"joint_targets_rad":[-1.6383769587303396,-1.596523736189923,1.345698495874655,-1.3199454445872474,-1.5708642092498277,-0.06749408946709956],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.819999999999944,"joint_targets_rad":[-1.642011528736825,-1.5973629163183527,1.346373285183918,-1.3197815285452137,-1.5708684547180796,-0.07112850729877232],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.839999999999951,"joint_targets_rad":[-1.645648276782267,-1.5981879173973546,1.3470333892661945,-1.3196171325113426,-1.5708723071835187,-0.07476511361783808],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.859999999999958,"joint_targets_rad":[-1.649287068784599,-1.5989987015994784,1.3476785747456186,-1.3194520580296791,-1.570875793470243,-0.07840377353126188],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.879999999999964,"joint_targets_rad":[-1.6529277951907753,-1.5997952351366143,1.3483088454460377,-1.3192863389469962,-1.5708789467450064,-0.08204437669673564],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.899999999999971,"joint_targets_rad":[-1.6565703481702496,-1.600577485060306,1.3489242256045655,-1.319120029004322,-1.5708817979350322,-0.08568681458263182],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.919999999999978,"joint_targets_rad":[-1.6602146209140418,-1.601345419405046,1.349524739388873,-1.318953181345963,-1.5708843751561516,-0.08933097975846038],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.939999999999984,"joint_targets_rad":[-1.6638605073775765,-1.6020990072356556,1.3501104096800167,-1.3187858472092457,-1.5708867039149446,-0.09297676562876814],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.959999999999991,"joint_targets_rad":[-1.6675079021456019,-1.602838218556532,1.350681258021774,-1.3186180759135586,-1.5708888073402658,-0.09662406628990246],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":4.979999999999998,"joint_targets_rad":[-1.671156700353169,-1.603563024237666,1.3512373046587511,-1.3184499149281408,-1.5708907063982174,-0.10027277644367874],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.000000000000004,"joint_targets_rad":[-1.674806797617081,-1.60427339595892,1.3517785686200703,-1.3182814099721882,-1.5708924200901448,-0.10392279132236393],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.020000000000011,"joint_targets_rad":[-1.6784580899742214,-1.6049693061607992,1.3523050677999782,-1.3181126051099408,-1.5708939656333392,-0.10757400662132346],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.040000000000018,"joint_targets_rad":[-1.6821104738263504,-1.6056507280007328,1.35281681902859,-1.3179435428345108,-1.5708953586255794,-0.1112263184388033],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.0600000000000245,"joint_targets_rad":[-1.6857638458908342,-1.6063176353147965,1.353313838135722,-1.3177742641429995,-1.570896613194946,-0.11487962322225387],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.080000000000031,"joint_targets_rad":[-1.6894181031568636,-1.6069700025842033,1.3537961400087075,-1.3176048086040566,-1.570897742136154,-0.11853381772066841],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.100000000000038,"joint_targets_rad":[-1.693073142846758,-1.6076078049059397,1.354263738644571,-1.3174352144185124,-1.5708987570345652,-0.12218879894247157],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.1200000000000445,"joint_targets_rad":[-1.6967288623819516,-1.6082310179670376,1.3547166471970018,-1.3172655184737059,-1.5708996683789216,-0.12584446411849662],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.140000000000051,"joint_targets_rad":[-1.7003851593532866,-1.6088396180220499,1.355154878018612,-1.3170957563921364,-1.5709004856638067,-0.1295007106696306],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.160000000000058,"joint_targets_rad":[-1.7040419314952677,-1.6094335818733367,1.3555784426988795,-1.3169259625749723,-1.570901217482716,-0.13315743617873432],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.1800000000000646,"joint_targets_rad":[-1.7076990766639624,-1.6100128868538293,1.3559873520981454,-1.3167561702408934,-1.570901871612582,-0.13681453836648128],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.200000000000071,"joint_targets_rad":[-1.711356492818241,-1.6105775108119655,1.3563816163780213,-1.3165864114607118,-1.5709024550905024,-0.14047191507078244],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.220000000000078,"joint_targets_rad":[-1.7150140780040808,-1.6111274320985383,1.3567612450284965,-1.3164167171881538,-1.570902974283382,-0.1441294642294797],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.240000000000085,"joint_targets_rad":[-1.7186717303416785,-1.6116626295552197,1.357126246892049,-1.3162471172871697,-1.5709034349511142,-0.14778708386604425],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.260000000000091,"joint_targets_rad":[-1.7223293480151338,-1.6121830825045582,1.357476630185005,-1.3160776405560852,-1.5709038423038968,-0.151444672078],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.280000000000098,"joint_targets_rad":[-1.7259868292644798,-1.6126887707412618,1.3578124025163723,-1.3159083147488744,-1.5709042010542082,-0.15510212702783888],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.300000000000105,"joint_targets_rad":[-1.7296440723798672,-1.6131796745246048,1.3581335709043774,-1.3157391665938334,-1.570904515463933,-0.1587593469362236],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.320000000000111,"joint_targets_rad":[-1.7333009756977065,-1.6136557745718116,1.3584401417908682,-1.3155702218098708,-1.5709047893870833,-0.16241623007724507],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.340000000000118,"joint_targets_rad":[-1.7369574375985979,-1.6141170520522916,1.3587321210537795,-1.3154015051206427,-1.5709050263085191,-0.16607267477558016],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.360000000000125,"joint_targets_rad":[-1.7406133565068933,-1.6145634885825997,1.359009514017793,-1.3152330402667125,-1.5709052293790338,-0.16972857940535402],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.380000000000131,"joint_targets_rad":[-1.744268630891744,-1.614995066222027,1.3592723254633408,-1.315064850015916,-1.5709054014471446,-0.17338384239057314],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.400000000000138,"joint_targets_rad":[-1.7479231592694962,-1.615411767468721,1.359520559634064,-1.3148969561720776,-1.5709055450878913,-0.17703836220697072],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.420000000000145,"joint_targets_rad":[-1.751576840207306,-1.6158135752562532,1.3597542202428468,-1.314729379582232,-1.5709056626289215,-0.18069203738512776],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.440000000000151,"joint_targets_rad":[-1.7552295723278761,-1.6162004729505575,1.3599733104765168,-1.3145621401424643,-1.5709057561741142,-0.18434476651476897],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.460000000000158,"joint_targets_rad":[-1.758881254315189,-1.6165724443471627,1.360177832999286,-1.3143952568024857,-1.5709058276249734,-0.18799644825010567],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.480000000000165,"joint_targets_rad":[-1.762531784921151,-1.6169294736686692,1.360367789955029,-1.3142287475690468,-1.570905878699996,-0.19164698131612634],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.500000000000171,"joint_targets_rad":[-1.7661810629730537,-1.6172715455623983,1.3605431829684411,-1.3140626295082816,-1.5709059109522079,-0.19529626451574061],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.520000000000178,"joint_targets_rad":[-1.7698289873817696,-1.6175986450981648,1.3607040131451436,-1.313896918747052,-1.5709059257850406,-0.1989441967376971],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.540000000000185,"joint_targets_rad":[-1.7734754571506113,-1.6179107577661316,1.3608502810707748,-1.3137316304733728,-1.5709059244666952,-0.2025906769651777],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.5600000000001915,"joint_targets_rad":[-1.7771203713847719,-1.6182078694746846,1.3609819868091095,-1.3135667789359753,-1.5709059081431493,-0.20623560428502205],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.580000000000198,"joint_targets_rad":[-1.7807636293012876,-1.618489966548301,1.3610991298992423,-1.3134023774430663,-1.5709058778499236,-0.2098788778974769],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.600000000000205,"joint_targets_rad":[-1.7844051302394648,-1.6187570357253633,1.3612017093518456,-1.313238438360323,-1.5709058345227316,-0.21352039712643817],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.6200000000002115,"joint_targets_rad":[-1.7880447736717078,-1.6190090641558799,1.3612897236445265,-1.3130749731081706,-1.5709057790071128,-0.21716006143011585],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.640000000000218,"joint_targets_rad":[-1.7916824592146938,-1.619246039399082,1.3613631707162936,-1.312911992158369,-1.5709057120671517,-0.22079777041205723],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.660000000000225,"joint_targets_rad":[-1.795318086640859,-1.619467949420857,1.361422047961132,-1.3127495050299385,-1.5709056343933607,-0.22443342383249715],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.6800000000002315,"joint_targets_rad":[-1.7989515558901248,-1.6196747825909874,1.3614663522206858,-1.3125875202844437,-1.5709055466098156,-0.2280669216199651],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.700000000000238,"joint_targets_rad":[-1.8025827670818448,-1.619866527680163,1.3614960797760343,-1.3124260455206518,-1.570905449280604,-0.23169816388311876],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.720000000000245,"joint_targets_rad":[-1.8062116205269165,-1.62004317385673,1.3615112263385512,-1.3122650873685682,-1.570905342915662,-0.2353270509227596],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.740000000000252,"joint_targets_rad":[-1.8098380167400259,-1.6202047106831503,1.3615117870398132,-1.3121046514828523,-1.5709052279760496,-0.2389534832439873],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.760000000000258,"joint_targets_rad":[-1.813461856451977,-1.6203511281121343,1.3614977564205453,-1.3119447425356268,-1.5709051048787208,-0.24257736156845033],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.780000000000265,"joint_targets_rad":[-1.8170830406220893,-1.6204824164824148,1.361469128418541,-1.311785364208641,-1.570904974000838,-0.24619858684666873],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.800000000000272,"joint_targets_rad":[-1.8207014704506062,-1.6205985665141294,1.361425896355541,-1.311626519184808,-1.5709048356836701,-0.24981706027037892],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.820000000000278,"joint_targets_rad":[-1.824317047391099,-1.6206995693037745,1.361368052922989,-1.3114682091390635,-1.5709046902361181,-0.25343268328487817],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.840000000000285,"joint_targets_rad":[-1.8279296731628256,-1.6207854163186937,1.3612955901666266,-1.3113104347285427,-1.5709045379378994,-0.257045357601332],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.860000000000292,"joint_targets_rad":[-1.8315392497630147,-1.6208560993910626,1.3612084994698448,-1.3111531955820306,-1.5709043790424264,-0.2606549852090119],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.880000000000298,"joint_targets_rad":[-1.8351456794790373,-1.620911610711329,1.3611067715357181,-1.3109964902886495,-1.5709042137794085,-0.26426146838742126],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.900000000000305,"joint_targets_rad":[-1.8387488649004464,-1.6209519428210637,1.3609903963676262,-1.3108403163857312,-1.5709040423572005,-0.26786470971829945],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.920000000000312,"joint_targets_rad":[-1.8423487089308455,-1.6209770886051704,1.360859363248364,-1.3106846703458228,-1.5709038649649243,-0.2714646120974585],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.940000000000318,"joint_targets_rad":[-1.8459451147995507,-1.6209870412834113,1.3607136607176216,-1.3105295475627572,-1.570903681774386,-0.27506107874641267],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.960000000000325,"joint_targets_rad":[-1.8495379860730239,-1.6209817944011837,1.3605532765477142,-1.3103749423367244,-1.5709034929418058,-0.27865401322378514],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":5.980000000000332,"joint_targets_rad":[-1.8531272266660346,-1.6209613418194944,1.3603781977174056,-1.3102208478582442,-1.5709032986093763,-0.28224331943645065],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.000000000000338,"joint_targets_rad":[-1.8567127408525173,-1.6209256777040526,1.360188410383661,-1.3100672561909528,-1.5709030989066757,-0.28582890165036756],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.020000000000345,"joint_targets_rad":[-1.8602944332761,-1.620874796513421,1.3599838998511629,-1.3099141582530964,-1.570902893951933,-0.28941066450109254],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.040000000000352,"joint_targets_rad":[-1.8638722089602417,-1.620808692986135,1.3597646505393657,-1.3097615437976073,-1.570902683853176,-0.2929885130039016],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.060000000000358,"joint_targets_rad":[-1.86744597331796,-1.620727362126693,1.359530645946861,-1.309609401390611,-1.5709024687092614,-0.29656235256350744],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.080000000000365,"joint_targets_rad":[-1.8710156321610996,-1.6206307991903321,1.359281868612811,-1.309457718388232,-1.5709022486108026,-0.3001320889833161],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.100000000000372,"joint_targets_rad":[-1.8745810917090826,-1.6205189996664546,1.359018300075126,-1.3093064809114892,-1.570902023641007,-0.30369762847416903],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.1200000000003785,"joint_targets_rad":[-1.878142258597114,-1.6203919592605989,1.3587399208250868,-1.3091556738191037,-1.5709017938764245,-0.30725887766254467],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.140000000000385,"joint_targets_rad":[-1.881699039883757,-1.62024967387479,1.358446710258012,-1.3090052806779748,-1.5709015593876217,-0.31081574359812864],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.160000000000392,"joint_targets_rad":[-1.8852513430578433,-1.620092139586123,1.3581386466195675,-1.308855283731072,-1.5709013202397857,-0.3143681337607228],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.1800000000003985,"joint_targets_rad":[-1.8887990760446356,-1.6199193526233886,1.3578157069472216,-1.3087056638624395,-1.5709010764932656,-0.31791595606640644],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.200000000000405,"joint_targets_rad":[-1.8923421472111677,-1.6197313093415342,1.357477867006308,-1.3085564005589854,-1.5709008282040529,-0.3214591188728821],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.220000000000412,"joint_targets_rad":[-1.8958804653706878,-1.6195280061937212,1.357125101220069,-1.3084074718686631,-1.5709005754242111,-0.3249975309839177],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.2400000000004185,"joint_targets_rad":[-1.899413939786095,-1.6193094397007097,1.3567573825929684,-1.3082588543546103,-1.5709003182022583,-0.32853110165279314],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.260000000000425,"joint_targets_rad":[-1.9029424801722805,-1.619075606417262,1.3563746826264556,-1.3081105230447336,-1.5709000565835012,-0.33205974058464743],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.280000000000432,"joint_targets_rad":[-1.9064659966972277,-1.6188265028951996,1.355976971226237,-1.3079624513761698,-1.5708997906103315,-0.335583357937589],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.300000000000439,"joint_targets_rad":[-1.9099843999817576,-1.618562125642719,1.3555642165999842,-1.3078146111339406,-1.5708995203224834,-0.3391018643224542],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.320000000000445,"joint_targets_rad":[-1.9134976010977396,-1.6182824710794677,1.3551363851442038,-1.3076669723830352,-1.5708992457572541,-0.3426151708010314],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.340000000000452,"joint_targets_rad":[-1.9170055115645979,-1.617987535486856,1.354693441318837,-1.3075195033930185,-1.5708989669496942,-0.3461231888825874],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.360000000000459,"joint_targets_rad":[-1.92050804334389,-1.6176773149529382,1.3542353475078763,-1.3073721705541148,-1.570898683932763,-0.34962583051846075],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.380000000000465,"joint_targets_rad":[-1.9240051088317167,-1.6173518053111244,1.3537620638640224,-1.3072249382835461,-1.5708983967374563,-0.3531230080945018],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.400000000000472,"joint_targets_rad":[-1.9274966208486728,-1.6170110020718396,1.3532735481350617,-1.3070777689206825,-1.5708981053929045,-0.35661463442104435],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.420000000000479,"joint_targets_rad":[-1.9309824926269936,-1.6166549003460842,1.3527697554692029,-1.3069306226093096,-1.5708978099264415,-0.36010062272008514],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.440000000000485,"joint_targets_rad":[-1.934462637794507,-1.6162834947596703,1.3522506381961426,-1.3067834571650057,-1.5708975103636438,-0.3635808866092725],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.460000000000492,"joint_targets_rad":[-1.9379369703548996,-1.6158967793566665,1.351716145579992,-1.3066362279252526,-1.5708972067283464,-0.36705534008221163],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.480000000000499,"joint_targets_rad":[-1.9414054046637472,-1.615494747490297,1.3511662235394395,-1.3064888875794085,-1.570896899042619,-0.3705238974845388],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.500000000000505,"joint_targets_rad":[-1.9448678553996124,-1.6150773916991927,1.3506008143296144,-1.3063413859751338,-1.5708965873267207,-0.3739864734850786],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.520000000000512,"joint_targets_rad":[-1.9483242375294012,-1.614644703566451,1.350019856178941,-1.3061936698971297,-1.5708962715990145,-0.3774429830412585],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.540000000000519,"joint_targets_rad":[-1.9517744662669747,-1.6141966735584166,1.3494232828728578,-1.3060456828131586,-1.5708959518758445,-0.38089334135778896],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.560000000000525,"joint_targets_rad":[-1.9552184570238023,-1.6137332908393953,1.348811023274438,-1.3058973645812164,-1.5708956281713753,-0.3843374638374075],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.580000000000532,"joint_targets_rad":[-1.9586561253501646,-1.6132545430576681,1.3481830007696836,-1.305748651110293,-1.5708953004973796,-0.38777526602217255],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.600000000000539,"joint_targets_rad":[-1.96208738686505,-1.6127604160970286,1.3475391326223256,-1.3055994739653765,-1.5708949688629732,-0.39120666352347766],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.6200000000005454,"joint_targets_rad":[-1.9655121571724372,-1.6122508937866604,1.3468793292192054,-1.305449759905018,-1.570894633274283,-0.3946315719384679],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.640000000000552,"joint_targets_rad":[-1.9689303517610728,-1.6117259575603105,1.3462034931824343,-1.305299430336782,-1.5708942937340376,-0.39804990674997726],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.660000000000559,"joint_targets_rad":[-1.97234188588404,-1.6111855860532605,1.3455115183181274,-1.305148400671955,-1.570893950241064,-0.4014615832062935],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.6800000000005655,"joint_targets_rad":[-1.9757466744134313,-1.6106297546224055,1.3448032883630299,-1.3049965795556657,-1.5708936027896667,-0.4048665161760568],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.700000000000572,"joint_targets_rad":[-1.9791446316640195,-1.6100584347704165,1.3440786754790457,-1.3048438679415997,-1.570893251368864,-0.40826461997221786],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.720000000000579,"joint_targets_rad":[-1.9825356711779702,-1.6094715934491193,1.3433375384303006,-1.3046901579710306,-1.570892895961438,-0.41165580813709424],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.7400000000005855,"joint_targets_rad":[-1.9859197054600795,-1.608869192209222,1.34257972035633,-1.3045353316029085,-1.570892536542755,-0.4150399931780341],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.760000000000592,"joint_targets_rad":[-1.9892966456494405,-1.6082511861523587,1.3418050460257025,-1.304379258923748,-1.5708921730792802,-0.41841708623962187],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.780000000000599,"joint_targets_rad":[-1.992666401108429,-1.6076175226256768,1.3410133184130253,-1.3042217960405615,-1.570891805526696,-0.4217869966933339],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.800000000000606,"joint_targets_rad":[-1.9960288789026386,-1.6069681395765747,1.3402043143828941,-1.304062782423555,-1.5708914338274937,-0.4251496316183453],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.820000000000612,"joint_targets_rad":[-1.99938398313484,-1.6063029634521178,1.3393777791774997,-1.3039020375118149,-1.5708910579078432,-0.4285048951366077],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.840000000000619,"joint_targets_rad":[-2.002731614080228,-1.6056219064782824,1.3385334192749863,-1.3037393563154906,-1.5708906776734815,-0.43185268754957246],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.860000000000626,"joint_targets_rad":[-2.0060716670461067,-1.6049248630788027,1.3376708929878314,-1.3035745036262083,-1.570890293004211,-0.43519290419985657],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.880000000000632,"joint_targets_rad":[-2.0094040308413765,-1.6042117050753804,1.3367897978607763,-1.303407206256927,-1.5708899037464104,-0.43852543394342175],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.900000000000639,"joint_targets_rad":[-2.0127285856803208,-1.6034822751209425,1.335889653429122,-1.3032371424256546,-1.570889509702622,-0.4418501570571126],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.920000000000646,"joint_targets_rad":[-2.016045200243867,-1.6027363775014722,1.3349698770686633,-1.3030639268872521,-1.570889110616726,-0.4451669423052772],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.940000000000652,"joint_targets_rad":[-2.01935372744647,-1.6019737648961945,1.3340297492369069,-1.3028870895371865,-1.5708887061522232,-0.44847564271448925],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.960000000000659,"joint_targets_rad":[-2.0201693567148524,-1.6016632607776164,1.333672340709809,-1.302838290312062,-1.5708818772503446,-0.44929715912387064],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":6.980000000000666,"joint_targets_rad":[-2.0201167283543042,-1.6015356884862886,1.3335443615172808,-1.3028354268113005,-1.570873834244212,-0.44925190138627535],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.000000000000672,"joint_targets_rad":[-2.02007364751778,-1.6014310151983115,1.3334389225561356,-1.3028323459977784,-1.5708667454899565,-0.44921547433540654],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.020000000000679,"joint_targets_rad":[-2.0200388719383326,-1.6013455831445038,1.333352511631648,-1.3028291166581492,-1.570860284666514,-0.4491866969141558],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.040000000000686,"joint_targets_rad":[-2.0200109250050056,-1.6012758586479197,1.3332816997329144,-1.3028258739269742,-1.570854363850386,-0.44916415848611996],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.060000000000692,"joint_targets_rad":[-2.0199885484412192,-1.601218943225478,1.3332236568827243,-1.3028227059681168,-1.5708489466859785,-0.4491466600427244],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.080000000000699,"joint_targets_rad":[-2.0199707016481887,-1.6011724733762107,1.3331760653074138,-1.302819669815479,-1.5708440007550886,-0.44913321411007645],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.100000000000706,"joint_targets_rad":[-2.0199565292024917,-1.601134523018188,1.3331370286590383,-1.3028168003197673,-1.5708394935117787,-0.4491230128937317],"gripper_0_255":180.0,"phase":"transfer"},{"t_seconds":7.120000000000712,"joint_targets_rad":[-2.019945329879201,-1.6011035224453432,1.3331049956336543,-1.302814116528537,-1.5708353926051388,-0.44911539789351734],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.140000000000719,"joint_targets_rad":[-2.0087460112184683,-1.6147951706998167,1.3947571749592034,-1.3504866849996355,-1.5708279866340746,-0.43794500335519976],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.160000000000726,"joint_targets_rad":[-2.0092530468095084,-1.614780223813988,1.3950710978748366,-1.350821162667644,-1.570825920054517,-0.43845175123847585],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.1800000000007325,"joint_targets_rad":[-2.009403636723384,-1.614960102907502,1.3972954015521541,-1.3528758083431693,-1.5708219321018908,-0.43860234572675816],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.200000000000739,"joint_targets_rad":[-2.0095456506087968,-1.6157774988337419,1.40223383220849,-1.356998552762526,-1.570821523782062,-0.4387444981302425],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.220000000000746,"joint_targets_rad":[-2.009703552863879,-1.6166096682773878,1.4074571048974716,-1.361389602663872,-1.5708218142433854,-0.43890250928243574],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.2400000000007525,"joint_targets_rad":[-2.0098648369129255,-1.6174223162224568,1.412676060834704,-1.3657958562281964,-1.5708221009558927,-0.43906388238590577],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.260000000000759,"joint_targets_rad":[-2.010026349566592,-1.6182166210852864,1.4178744951358935,-1.370200042102636,-1.5708223394875802,-0.4392254731503842],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.280000000000766,"joint_targets_rad":[-2.0101878653873424,-1.618992650615954,1.4230510473609617,-1.3746007293669413,-1.5708225317499436,-0.4393870580171235],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.3000000000007725,"joint_targets_rad":[-2.0103493692016796,-1.6197504623785766,1.4282058296759084,-1.3789979609216576,-1.5708226830304517,-0.43954862300568737],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.320000000000779,"joint_targets_rad":[-2.010510862928344,-1.620490108223355,1.4333390661004433,-1.3833918976579065,-1.570822798246681,-0.43971017102427157],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.340000000000786,"joint_targets_rad":[-2.0106723498570807,-1.6212116363088407,1.4384509797583358,-1.3877827043731668,-1.5708228817203171,-0.4398717062094326],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.360000000000793,"joint_targets_rad":[-2.010833833211379,-1.621915091540019,1.4435417846211671,-1.3921705410213954,-1.5708229372364721,-0.4400332325140157],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.380000000000799,"joint_targets_rad":[-2.0109953160125063,-1.6226005157324548,1.4486116855495648,-1.396555562486115,-1.5708229681146602,-0.4401947535896336],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.400000000000806,"joint_targets_rad":[-2.0111568010841046,-1.6232679477298817,1.453660878852593,-1.4009379189251518,-1.5708229772708344,-0.44035627280628026],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.420000000000813,"joint_targets_rad":[-2.0113182910664738,-1.6239174235196907,1.4586895528699149,-1.4053177561497507,-1.5708229672705336,-0.4405177932791414],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.440000000000819,"joint_targets_rad":[-2.0114797884314446,-1.6245489763401906,1.4636978885082912,-1.4096952159752145,-1.5708229403743772,-0.4406793178939352],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.460000000000826,"joint_targets_rad":[-2.011641295497216,-1.625162636778399,1.4686860597231475,-1.4140704365341659,-1.570822898577085,-0.44084084933053375],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.480000000000833,"joint_targets_rad":[-2.0118028144428335,-1.6257584328592325,1.4736542339515726,-1.4184435525571062,-1.570822843641014,-0.44100239008481956],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.500000000000839,"joint_targets_rad":[-2.0119643473221926,-1.6263363901264938,1.4786025725019762,-1.4228146956243282,-1.570822777125066,-0.44116394248891444],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.520000000000846,"joint_targets_rad":[-2.0121258960775137,-1.626896531715996,1.483531230904556,-1.4271839943923164,-1.5708227004096504,-0.44132550872991344],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.540000000000853,"joint_targets_rad":[-2.0122874625522282,-1.6274388784211888,1.48844035922629,-1.4315515747974026,-1.570822614718302,-0.4414870908672345],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.560000000000859,"joint_targets_rad":[-2.0124490485032864,-1.6279634487516483,1.493330102353886,-1.435917560239186,-1.570822521136437,-0.44164869084871317],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.580000000000866,"joint_targets_rad":[-2.0126106556128716,-1.628470258984775,1.4982006002477202,-1.4402820717459395,-1.570822420627667,-0.4418103105255526],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.600000000000873,"joint_targets_rad":[-2.0127722854995582,-1.6289593232109931,1.5030519881694568,-1.444645228123958,-1.570822314048018,-0.4419719516662484],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.620000000000879,"joint_targets_rad":[-2.0129339397289483,-1.6294306533727287,1.5078843968857478,-1.4490071460925875,-1.5708222021583491,-0.44213361596959205],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.640000000000886,"joint_targets_rad":[-2.013095619823813,-1.6298842592973821,1.5126979528501394,-1.4533679404065032,-1.570822085635223,-0.4422953050768593],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.660000000000893,"joint_targets_rad":[-2.0132573272738137,-1.6303201487244707,1.5174927783650205,-1.4577277239665773,-1.5708219650804376,-0.44245702058328207],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.680000000000899,"joint_targets_rad":[-2.0134190635448417,-1.6307383273270655,1.52226899172525,-1.4620866079205794,-1.570821841029399,-0.4426187640489189],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.700000000000906,"joint_targets_rad":[-2.013580830088046,-1.6311387987275798,1.527026707344854,-1.4664447017547881,-1.5708217139584932,-0.44278053700899905],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.720000000000913,"joint_targets_rad":[-2.013742628348609,-1.6315215645079293,1.531766035867987,-1.470802113377467,-1.570821584291581,-0.44294234098384655],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.7400000000009195,"joint_targets_rad":[-2.0139044597743405,-1.6318866242139929,1.536487084265161,-1.4751589491950796,-1.570821452405736,-0.4431041774884768],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.760000000000926,"joint_targets_rad":[-2.0140663258241625,-1.63223397535426,1.5411899559155593,-1.4795153141819954,-1.5708213186363167,-0.4432660480419561],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.780000000000933,"joint_targets_rad":[-2.0142282279765578,-1.6325636133924561,1.5458747506760826,-1.4838713119443774,-1.5708211832814565,-0.44342795417661734],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.8000000000009395,"joint_targets_rad":[-2.0143901677380702,-1.6328755317338703,1.5505415649375893,-1.4882270447788537,-1.5708210466060466,-0.4435898974472306],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.820000000000946,"joint_targets_rad":[-2.0145521466519325,-1.6331697217050107,1.5551904916686485,-1.4925826137265283,-1.5708209088452691,-0.44375187944022626],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.840000000000953,"joint_targets_rad":[-2.0147141663069243,-1.633446172526104,1.5598216204469113,-1.4969381186228086,-1.570820770207737,-0.4439139017830698],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.8600000000009596,"joint_targets_rad":[-2.014876228346558,-1.6337048712758568,1.5644350374780738,-1.5012936581435044,-1.5708206308782833,-0.4440759661539109],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.880000000000966,"joint_targets_rad":[-2.015038334478708,-1.633945802847739,1.5690308256021703,-1.505649329847574,-1.5708204910204493,-0.44423807429161527],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.900000000000973,"joint_targets_rad":[-2.015200486485803,-1.6341689498969099,1.5736090642867797,-1.5100052302169147,-1.570820350778691,-0.4444002280063161],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.92000000000098,"joint_targets_rad":[-2.01536268623573,-1.6343742927767066,1.578169829606442,-1.514361454693481,-1.570820210280354,-0.4445624291906336],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.940000000000986,"joint_targets_rad":[-2.0155249356936054,-1.6345618094634147,1.582713194207391,-1.5187180977140684,-1.570820069637424,-0.44472467983172537],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.960000000000993,"joint_targets_rad":[-2.015687236934604,-1.6347314754677489,1.587239227256365,-1.5230752527430227,-1.5708199289480924,-0.44488698202436316],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":7.980000000001,"joint_targets_rad":[-2.0158495921580566,-1.6348832637311934,1.591747994371955,-1.5274330123031548,-1.5708197882981483,-0.44504933798524265],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.000000000001005,"joint_targets_rad":[-2.0160120037030778,-1.6350171445049202,1.5962395575365012,-1.5317914680050804,-1.570819647762215,-0.4452117500688047],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.020000000000994,"joint_targets_rad":[-2.0161744737805014,-1.6351330692349009,1.6007139128605827,-1.536150664612677,-1.570819507325326,-0.44537422049950975],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.040000000000983,"joint_targets_rad":[-2.01633700436891,-1.6352309878080973,1.6051710509896606,-1.5405106430042297,-1.5708193669649024,-0.4455367512687517],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.060000000000972,"joint_targets_rad":[-2.0164995978455305,-1.6353108648310768,1.609611024212199,-1.5448714907889025,-1.5708192267405854,-0.445699344764894],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.080000000000961,"joint_targets_rad":[-2.0166622570922135,-1.6353726614633952,1.6140338820284739,-1.5492332962496336,-1.570819086708069,-0.4458620038786924],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.10000000000095,"joint_targets_rad":[-2.0168249852432547,-1.6354163354214981,1.6184396697688825,-1.5535961469671098,-1.5708189469151033,-0.44602473175188556],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.120000000000939,"joint_targets_rad":[-2.0169877857011094,-1.6354418407007554,1.6228284282178769,-1.5579601297205894,-1.5708188074018776,-0.4461875317930163],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.140000000000928,"joint_targets_rad":[-2.017150662172273,-1.6354491272477567,1.6272001933041902,-1.5623253305043348,-1.5708186682016398,-0.446350407713369],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.160000000000917,"joint_targets_rad":[-2.0173136187103897,-1.635438140571662,1.6315549957372526,-1.5666918345514695,-1.5708185293412453,-0.44651336357010185],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.180000000000906,"joint_targets_rad":[-2.0174766597672122,-1.635408821281306,1.6358928605699852,-1.5710597263588222,-1.570818390841617,-0.4466764038172156],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.200000000000895,"joint_targets_rad":[-2.0176397902532126,-1.6353611045308745,1.6402138066707428,-1.5754290897127083,-1.5708182527181167,-0.44683953336614507],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.220000000000883,"joint_targets_rad":[-2.0178030156102515,-1.6352949193520319,1.644517846082772,-1.5798000077162013,-1.5708181149808327,-0.4470027576583875],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.240000000000872,"joint_targets_rad":[-2.017966341899457,-1.6352101878436818,1.648804983242981,-1.5841725628185157,-1.5708179776347717,-0.44716608275330666],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.260000000000861,"joint_targets_rad":[-2.018129775908469,-1.635106824181423,1.6530752140228502,-1.5885468368473856,-1.5708178406799538,-0.4473295154352656],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.28000000000085,"joint_targets_rad":[-2.0182933252836115,-1.6349847333961491,1.6573285245419607,-1.5929229110455358,-1.5708177041113935,-0.4474930633456363],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.30000000000084,"joint_targets_rad":[-2.018456998694525,-1.6348438098535487,1.6615648896871833,-1.5973008661127057,-1.5708175679189567,-0.44765673514721827],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.320000000000828,"joint_targets_rad":[-2.018620806041654,-1.6346839353409934,1.6657842712457773,-1.6016807822551933,-1.57081743208705,-0.44782054073142386],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.340000000000817,"joint_targets_rad":[-2.018784758721088,-1.63450497663169,1.6699866155246712,-1.6060627392456217,-1.5708172965941252,-0.44798449148272124],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.360000000000806,"joint_targets_rad":[-2.0189488699674563,-1.6343067823417203,1.6741718502748644,-1.6104468164967012,-1.5708171614119126,-0.4481486006209885],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.380000000000795,"joint_targets_rad":[-2.019113155304941,-1.6340891788136123,1.678339880659328,-1.6148330931543677,-1.5708170265043193,-0.44831288365177935],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.400000000000784,"joint_targets_rad":[-2.0192776331511175,-1.6338519646330925,1.682490583877879,-1.6192216482181307,-1.570816891825843,-0.44847735896914875],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.420000000000773,"joint_targets_rad":[-2.0194423256418115,-1.6335949031835975,1.686623801863801,-1.6236125607003533,-1.5708167573192977,-0.448642048679073],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.440000000000762,"joint_targets_rad":[-2.0196072597839763,-1.6333177123116387,1.6907393311408274,-1.628005909842405,-1.5708166229125426,-0.44880697975027406],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.46000000000075,"joint_targets_rad":[-2.019772469110176,-1.6330200496130882,1.6948369083750017,-1.6324017754160915,-1.5708164885136708,-0.44897218566568925],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.48000000000074,"joint_targets_rad":[-2.0198966312116093,-1.6327413778369513,1.6978522901407436,-1.635701461615735,-1.5708158795021088,-0.44909643915160063],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.500000000000728,"joint_targets_rad":[-2.0198984607253094,-1.6325862408321086,1.697724819085196,-1.6357490796151621,-1.5708139525041827,-0.44909863348225243],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.520000000000717,"joint_targets_rad":[-2.019900086662075,-1.6324582192217474,1.6976212216656095,-1.635791534624935,-1.5708122893297263,-0.44910059167046285],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.540000000000706,"joint_targets_rad":[-2.019901561608101,-1.632354746918143,1.6975390317340826,-1.6358290517356298,-1.5708107783585858,-0.4491023673949149],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.560000000000695,"joint_targets_rad":[-2.0199029022664767,-1.6322713531781907,1.6974741491892094,-1.6358621910935451,-1.5708094021735375,-0.44910398026141546],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.580000000000684,"joint_targets_rad":[-2.019904120291644,-1.6322042621989714,1.6974231471617012,-1.635891467463774,-1.570808150674863,-0.44910544461903557],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.600000000000673,"joint_targets_rad":[-2.019905226234563,-1.632150389793324,1.6973832558987016,-1.6359173425324038,-1.5708070143382273,-0.4491067734705664],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.620000000000662,"joint_targets_rad":[-2.0199062298542896,-1.6321072248367665,1.6973522434678112,-1.635940226635479,-1.570805983925571,-0.4491079787995231],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.64000000000065,"joint_targets_rad":[-2.0199071401708615,-1.6320727243505342,1.6973283124068486,-1.6359604823027076,-1.5708050505838653,-0.44910907164226993],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.66000000000064,"joint_targets_rad":[-2.0199079655020267,-1.6320452272079877,1.6973100159566146,-1.6359784284692422,-1.5708042059282492,-0.44911006214311316],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.680000000000629,"joint_targets_rad":[-2.0199087135004117,-1.6320233836006186,1.6972961904803237,-1.6359943448817582,-1.5708034420918524,-0.44911095960851277],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.700000000000617,"joint_targets_rad":[-2.0199093911917325,-1.6320060974295931,1.6972859009211978,-1.6360084764230531,-1.5708027517494714,-0.4491117725610465],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.720000000000606,"joint_targets_rad":[-2.0199100050135774,-1.6319924792695613,1.697278396754238,-1.6360210371949087,-1.5708021281220264,-0.44911250879269343],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.740000000000595,"joint_targets_rad":[-2.019910560854226,-1.631981807976697,1.6972730763947,-1.6360322142746409,-1.5708015649672904,-0.4491131754169396],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.760000000000584,"joint_targets_rad":[-2.0199110640909725,-1.6319734993627653,1.6972694584289196,-1.6360421711096498,-1.570801056561097,-0.44911377891925525],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.780000000000573,"joint_targets_rad":[-2.019911519627522,-1.631967080643614,1.6972671583541994,-1.6360510505452233,-1.5708005976722639,-0.44911432520556915],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.800000000000562,"joint_targets_rad":[-2.0199119319300918,-1.6319621696052033,1.6972658697705691,-1.6360589774994088,-1.5708001835336562,-0.4491148196484514],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.820000000000551,"joint_targets_rad":[-2.0199123050619487,-1.6319584576225734,1.6972653491723566,-1.6360660613093234,-1.570799809811209,-0.4491152671308066],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.84000000000054,"joint_targets_rad":[-2.019912642716186,-1.6319556958246109,1.6972654036519232,-1.6360723977783533,-1.5707994725722303,-0.4491156720869537],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.860000000000529,"joint_targets_rad":[-2.019912948246618,-1.631953683826447,1.6972658809601389,-1.6360780709554188,-1.570799168253946,-0.44911603854104587],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.880000000000518,"joint_targets_rad":[-2.019913224696721,-1.6319522605568957,1.697266661474546,-1.6360831546770274,-1.570798893632945,-0.44911637014282263],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.900000000000507,"joint_targets_rad":[-2.019913474826618,-1.631951296794758,1.6972676517119731,-1.6360877139011853,-1.5707986457959775,-0.4491166702007496],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.920000000000496,"joint_targets_rad":[-2.0199137011381096,-1.6319506890985347,1.6972687790915704,-1.6360918058598626,-1.570798422112386,-0.44911694171262256],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.940000000000484,"joint_targets_rad":[-2.0199139058978144,-1.6319503548719332,1.697269987710185,-1.6360954810540869,-1.570798220208323,-0.44911718739373657],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.960000000000473,"joint_targets_rad":[-2.0199140911584887,-1.631950228354862,1.6972712349372223,-1.6360987841130639,-1.5707980379428301,-0.4491174097027528],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":8.980000000000462,"joint_targets_rad":[-2.0199142587786056,-1.631950257368263,1.6972724886727335,-1.6361017545361085,-1.5707978733857773,-0.449117610865384],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.000000000000451,"joint_targets_rad":[-2.0199144104402964,-1.631950400672748,1.6972737251421026,-1.6361044273338023,-1.5707977247976195,-0.4491177928960452],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.02000000000044,"joint_targets_rad":[-2.0199145476657536,-1.63195062582681,1.6972749271247163,-1.6361068335825635,-1.5707975906109017,-0.449117957617609],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.040000000000429,"joint_targets_rad":[-2.0199146718322014,-1.631950907451479,1.6972760825334503,-1.6361090009049106,-1.5707974694134093,-0.4491181066793957],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.060000000000418,"joint_targets_rad":[-2.019914784185529,-1.6319512258255007,1.697277183277563,-1.6361109538859224,-1.5707973599328724,-0.449118241573547],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.080000000000407,"joint_targets_rad":[-2.0199148858526987,-1.631951565749169,1.6972782243543938,-1.6361127144349412,-1.5707972610231014,-0.4491183636499005],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.100000000000396,"joint_targets_rad":[-2.0199149778530234,-1.631951915626421,1.6972792031256123,-1.636114302100233,-1.5707971716514488,-0.4491184741294982],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.120000000000385,"joint_targets_rad":[-2.019915061108397,-1.6319522667241506,1.6972801187421995,-1.6361157343432011,-1.5707970908874875,-0.44911857411683315],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.140000000000374,"joint_targets_rad":[-2.019915136452582,-1.6319526125753212,1.6972809716891253,-1.6361170267777934,-1.5707970178928,-0.44911866461096017],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.160000000000363,"joint_targets_rad":[-2.01991520463962,-1.6319529484987034,1.697281763426269,-1.6361181933799023,-1.5707969519117755,-0.4491187465155534],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.180000000000351,"joint_targets_rad":[-2.019915266351458,-1.6319532712131029,1.6972824961065658,-1.6361192466708607,-1.570796892263327,-0.44911882064802133],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.20000000000034,"joint_targets_rad":[-2.0199153222048443,-1.6319535785281065,1.6972831723560526,-1.6361201978785544,-1.5707968383334352,-0.44911888774774855],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.22000000000033,"joint_targets_rad":[-2.019915372757576,-1.6319538690967208,1.6972837951033874,-1.6361210570791245,-1.5707967895684465,-0.4491189484835614],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.240000000000318,"joint_targets_rad":[-2.0199154185141484,-1.6319541422180293,1.6972843674488471,-1.6361218333218392,-1.5707967454690406,-0.44911900346047906],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.260000000000307,"joint_targets_rad":[-2.0199154599308624,-1.6319543976802258,1.6972848925647281,-1.6361225347393233,-1.5707967055848158,-0.44911905322581885],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.280000000000296,"joint_targets_rad":[-2.0199154974204476,-1.631954635636196,1.6972853736206468,-1.6361231686450337,-1.5707966695094129,-0.449119098274716],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.300000000000285,"joint_targets_rad":[-2.0199155313562382,-1.6319548565053104,1.6972858137285112,-1.6361237416195924,-1.5707966368761401,-0.44911913905512035],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.320000000000274,"joint_targets_rad":[-2.0199155620759477,-1.6319550608962674,1.6972862159029611,-1.6361242595873788,-1.5707966073540363,-0.449119175972303],"gripper_0_255":180.0,"phase":"place"},{"t_seconds":9.340000000000263,"joint_targets_rad":[-2.0199155900128285,-1.6319552496401049,1.6972865828707357,-1.636124727419437,-1.5707965803501434,-0.4491192095085039],"gripper_0_255":180.0,"phase":"release"},{"t_seconds":9.360000000000252,"joint_targets_rad":[-2.0199156158766436,-1.6319554244881485,1.6972869178465018,-1.6361251496349165,-1.5707965547621505,-0.4491192405316641],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.38000000000024,"joint_targets_rad":[-2.019915639338223,-1.6319555858810766,1.6972872231273695,-1.6361255308342204,-1.5707965313564627,-0.4491192684957859],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.40000000000023,"joint_targets_rad":[-2.019915660657391,-1.6319557345287399,1.6972875014052935,-1.6361258756892054,-1.5707965100129082,-0.4491192938660732],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.420000000000218,"joint_targets_rad":[-2.0199156791288297,-1.6319558687417963,1.6972877547387382,-1.6361261900570263,-1.5707964924856337,-0.44911931612119366],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.440000000000207,"joint_targets_rad":[-2.019915695842397,-1.631955990385454,1.6972879838244597,-1.6361264731610965,-1.570796476721902,-0.44911933626514017],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.460000000000196,"joint_targets_rad":[-2.019915710988887,-1.6319561016133233,1.6972881921007223,-1.6361267291299089,-1.5707964624322404,-0.44911935451640295],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.480000000000185,"joint_targets_rad":[-2.019915724663813,-1.631956203541587,1.6972883820996119,-1.6361269619016945,-1.5707964495313809,-0.44911937100580407],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.500000000000174,"joint_targets_rad":[-2.0199157369862455,-1.631956300304505,1.6972885616968831,-1.6361271840407499,-1.5707964377316281,-0.4491193858751958],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.520000000000163,"joint_targets_rad":[-2.0199157481746304,-1.6319563924504243,1.6972887306101476,-1.6361273933481733,-1.5707964270172685,-0.4491193993717545],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.540000000000152,"joint_targets_rad":[-2.019915758279731,-1.6319564764899555,1.6972888838942841,-1.6361275830512418,-1.5707964173669993,-0.4491194115642732],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.56000000000014,"joint_targets_rad":[-2.019915767419414,-1.631956552776273,1.6972890225862391,-1.63612775456224,-1.570796408663,-0.44911942259268955],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.58000000000013,"joint_targets_rad":[-2.0199157756878656,-1.6319566219825965,1.697289148048422,-1.6361279096087205,-1.5707964008090223,-0.44911943257029163],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.600000000000119,"joint_targets_rad":[-2.0199157831688965,-1.6319566847502578,1.6972892615436495,-1.6361280497815294,-1.5707963937197056,-0.4491194415980666],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.620000000000108,"joint_targets_rad":[-2.019915789938061,-1.6319567416668626,1.6972893642160798,-1.6361281765181692,-1.5707963873186872,-0.44911944976708074],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.640000000000096,"joint_targets_rad":[-2.01991579606356,-1.6319567932686152,1.697289457100354,-1.6361282911157098,-1.5707963815375519,-0.4491194571595482],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.660000000000085,"joint_targets_rad":[-2.019915801606983,-1.6319568400442719,1.6972895411318847,-1.636128394744513,-1.5707963763149513,-0.4491194638497235],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.680000000000074,"joint_targets_rad":[-2.019915806623957,-1.6319568824389894,1.6972896171563534,-1.6361284884607918,-1.570796371595832,-0.44911946990468227],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.700000000000063,"joint_targets_rad":[-2.0199158111647404,-1.631956920857957,1.6972896859383442,-1.6361285732179307,-1.5707963673307506,-0.4491194753850325],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.720000000000052,"joint_targets_rad":[-2.0199158152747487,-1.631956955669779,1.6972897481691516,-1.6361286498766718,-1.5707963634752744,-0.44911948034554616],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.740000000000041,"joint_targets_rad":[-2.019915818978675,-1.631956987743267,1.6972898052405314,-1.6361287205826,-1.5707963599976797,-0.4491194848194916],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.76000000000003,"joint_targets_rad":[-2.019915822336417,-1.6319570171140265,1.6972898572173307,-1.6361287849043975,-1.5707963568517636,-0.4491194888743098],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.780000000000019,"joint_targets_rad":[-2.019915825376234,-1.631957043622162,1.6972899040944438,-1.6361288428360798,-1.570796354007131,-0.44911949254512185],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.800000000000008,"joint_targets_rad":[-2.0199158281296823,-1.631957067511274,1.6972899463429478,-1.6361288949846193,-1.5707963514336416,-0.449119495869778],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.819999999999997,"joint_targets_rad":[-2.0199158306239284,-1.6319570890399462,1.6972899844277465,-1.6361289419413625,-1.5707963491049246,-0.4491194988811263],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.839999999999986,"joint_targets_rad":[-2.0199158328834033,-1.6319571084451974,1.6972900187695759,-1.6361289842393905,-1.5707963469973394,-0.449119501608735],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.859999999999975,"joint_targets_rad":[-2.019915834930204,-1.6319571259406962,1.6972900497457026,-1.6361290223553366,-1.5707963450896203,-0.4491195040793479],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.879999999999963,"joint_targets_rad":[-2.019915836784336,-1.6319571417184566,1.6972900776940827,-1.6361290567150504,-1.5707963433626153,-0.4491195063171738],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.899999999999952,"joint_targets_rad":[-2.0199158384639175,-1.6319571559508466,1.6972901029175127,-1.6361290876991428,-1.570796341799057,-0.4491195083441328],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.919999999999941,"joint_targets_rad":[-2.0199158399853596,-1.6319571687925278,1.6972901256874116,-1.6361291156479971,-1.5707963403833662,-0.4491195101800783],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.93999999999993,"joint_targets_rad":[-2.0199158413635296,-1.631957180382263,1.6972901462472088,-1.6361291408662393,-1.5707963391014776,-0.4491195118429928],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.95999999999992,"joint_targets_rad":[-2.0199158426118995,-1.631957190844569,1.6972901648153684,-1.6361291636266964,-1.5707963379406837,-0.4491195133491647],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.979999999999908,"joint_targets_rad":[-2.019915843742675,-1.631957200291211,1.6972901815880732,-1.6361291841739036,-1.5707963368895006,-0.44911951471335243],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":9.999999999999897,"joint_targets_rad":[-2.0199158447669157,-1.6319572088225482,1.6972901967416067,-1.6361292027272047,-1.5707963359375452,-0.44911951594892385],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":10.019999999999886,"joint_targets_rad":[-2.0199158456946438,-1.6319572165287413,1.697290210434468,-1.6361292194834827,-1.5707963350754262,-0.4491195170679908],"gripper_0_255":0.0,"phase":"release"},{"t_seconds":10.039999999999875,"joint_targets_rad":[-2.01991584653494,-1.6319572234908246,1.6972902228092481,-1.6361292346195848,-1.570796334294648,-0.4491195180815266],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.059999999999864,"joint_targets_rad":[-2.019928371137551,-1.634895142490291,1.6541455204353903,-1.5902513741939424,-1.5707826167432846,-0.44913201405201264],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.079999999999853,"joint_targets_rad":[-2.0199287222665974,-1.6349959438880644,1.652992251204203,-1.588996336880007,-1.5707826679848254,-0.44913236681187174],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.099999999999842,"joint_targets_rad":[-2.0199337043179897,-1.6350517440234837,1.6493230227580806,-1.5852708022292643,-1.5707826417845103,-0.44913733927384153],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.11999999999983,"joint_targets_rad":[-2.0199377165336805,-1.6351113324551647,1.645042413852891,-1.5809313185861167,-1.5707825008511425,-0.4491413455899236],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.13999999999982,"joint_targets_rad":[-2.0199374751986507,-1.6351533161883405,1.64072672159873,-1.576574491116423,-1.5707823411235957,-0.44914110861877443],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.159999999999808,"joint_targets_rad":[-2.0199370754618102,-1.6351775214248134,1.636393868348293,-1.5722182641972353,-1.5707821832149367,-0.44914071327408056],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.179999999999797,"joint_targets_rad":[-2.0199366899205913,-1.6351839645789152,1.6320448273317427,-1.567863590141067,-1.570782027780336,-0.4491403317079416],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.199999999999786,"joint_targets_rad":[-2.0199363267121844,-1.635172665334617,1.6276795818924352,-1.5635104350820945,-1.5707818745372517,-0.44913997207061873],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.219999999999775,"joint_targets_rad":[-2.0199359850589826,-1.6351436421127121,1.6232980635104457,-1.5591587146683346,-1.5707817231869114,-0.4491396336194744],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.239999999999764,"joint_targets_rad":[-2.01993566382082,-1.6350969116676033,1.618900199368946,-1.5548083416966465,-1.5707815734586497,-0.4491393152478294],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.259999999999753,"joint_targets_rad":[-2.0199353619276104,-1.6350324891048533,1.6144859148152348,-1.5504592285608512,-1.570781425108786,-0.4491390159164978],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.279999999999742,"joint_targets_rad":[-2.019935078393534,-1.634950387907511,1.6100551334279785,-1.5461112873129768,-1.570781277917583,-0.4491387346680521],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.29999999999973,"joint_targets_rad":[-2.0199348123097445,-1.6348506199583668,1.6056077769622574,-1.5417644296052555,-1.570781131686479,-0.44913847061966244],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.31999999999972,"joint_targets_rad":[-2.01993456283664,-1.6347331955576205,1.601143765291692,-1.5374185666319826,-1.5707809862356539,-0.44913822295553213],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.339999999999709,"joint_targets_rad":[-2.019934329196756,-1.6345981234360847,1.5966630163530586,-1.5330736090766333,-1.5707808414018967,-0.44913799091993234],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.359999999999697,"joint_targets_rad":[-2.0199341106682693,-1.6344454107641375,1.5921654460929466,-1.5287294670637666,-1.5707806970367273,-0.44913777381086045],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.379999999999686,"joint_targets_rad":[-2.019933906579057,-1.6342750631565843,1.5876509684157434,-1.524386050114976,-1.5707805530047383,-0.4491375709742456],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.399999999999675,"joint_targets_rad":[-2.0199337158033983,-1.6340871209921979,1.583119610998285,-1.5200433462836058,-1.5707804092118498,-0.44913738130152603],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.419999999999664,"joint_targets_rad":[-2.019933538208593,-1.6338815920108762,1.5785713040947518,-1.515701279073665,-1.5707802655485508,-0.4491372046736927],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.439999999999653,"joint_targets_rad":[-2.0199333733372584,-1.6336584768936024,1.5740059558683406,-1.5113597569491906,-1.5707801219076647,-0.4491370406466893],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.459999999999642,"joint_targets_rad":[-2.0199332206556355,-1.6334177748404701,1.5694234719882587,-1.5070186872846738,-1.5707799781900262,-0.44913688869910245],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.479999999999631,"joint_targets_rad":[-2.0199330796538675,-1.6331594834320324,1.564823755794066,-1.5026779766729779,-1.5707798343039585,-0.44913674833228256],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.49999999999962,"joint_targets_rad":[-2.0199329498464103,-1.6328835986131562,1.5602067082715065,-1.498337530924442,-1.5707796901644513,-0.4491366190708424],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.519999999999609,"joint_targets_rad":[-2.019932830768852,-1.6325901146716288,1.5555722279967772,-1.4939972550391838,-1.570779545692404,-0.4491365004595662],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.539999999999598,"joint_targets_rad":[-2.0199327219747087,-1.6322790242132197,1.550920211077513,-1.4896570531790494,-1.5707794008139484,-0.4491363920603001],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.559999999999587,"joint_targets_rad":[-2.0199326230324277,-1.6319503181330608,1.546250551091311,-1.4853168286402105,-1.5707792554598379,-0.4491362934490331],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.579999999999576,"joint_targets_rad":[-2.019932533522564,-1.6316039855832827,1.5415631390215851,-1.4809764838263415,-1.5707791095648989,-0.4491362042131461],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.599999999999564,"joint_targets_rad":[-2.0199324530351213,-1.6312400139367902,1.5368578631904377,-1.476635920222206,-1.5707789630675344,-0.44913612394882213],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.619999999999553,"joint_targets_rad":[-2.019932381167012,-1.6308583887470303,1.532134609188214,-1.4722950383675313,-1.5707788159092786,-0.4491360522585725],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.639999999999542,"joint_targets_rad":[-2.0199323175196295,-1.6304590937035564,1.5273932597993884,-1.4679537378310408,-1.57077866803439,-0.4491359887488588],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.659999999999531,"joint_targets_rad":[-2.0199322616965047,-1.6300421105831522,1.5226336949244015,-1.46361191718455,-1.5707785193894819,-0.4491359330278071],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.67999999999952,"joint_targets_rad":[-2.0199322133010162,-1.6296074191962144,1.517855791497034,-1.4592694739770375,-1.5707783699231876,-0.44913588470296484],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.699999999999509,"joint_targets_rad":[-2.019932171934137,-1.629154997328037,1.5130594233968244,-1.4549263047085927,-1.5707782195858535,-0.4491358433790912],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.719999999999498,"joint_targets_rad":[-2.0199321371921997,-1.6286848206745757,1.5082444613560368,-1.4505823048041944,-1.5707780683292545,-0.4491358086559583],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.739999999999487,"joint_targets_rad":[-2.019932108664645,-1.6281968627721755,1.5034107728605575,-1.4462373685872396,-1.5707779161063355,-0.4491357801261443],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.759999999999476,"joint_targets_rad":[-2.0199320859317336,-1.6276910949206684,1.4985582220440583,-1.4418913892527763,-1.5707777628709694,-0.4491357573727684],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.779999999999465,"joint_targets_rad":[-2.019932068562204,-1.627167486099132,1.4936866695746542,-1.437544258840406,-1.570777608577731,-0.44913573996718836],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.799999999999454,"joint_targets_rad":[-2.0199320561108354,-1.6266260028734678,1.4887959725331472,-1.433195868206803,-1.5707774531816874,-0.44913572746658387],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.819999999999443,"joint_targets_rad":[-2.0199320481158867,-1.6260666092948108,1.4838859842818373,-1.4288461069978313,-1.5707772966381957,-0.44913571941142594],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.839999999999431,"joint_targets_rad":[-2.0199320440963926,-1.625489266787615,1.4789565543227046,-1.4244948636202606,-1.570777138902713,-0.44913571532279484],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.85999999999942,"joint_targets_rad":[-2.0199320435492614,-1.624893934026013,1.4740075281435305,-1.4201420252130352,-1.5707769799306124,-0.4491357146995006],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.87999999999941,"joint_targets_rad":[-2.0199320459461427,-1.624280566796811,1.469038747050321,-1.4157874776181378,-1.5707768196770024,-0.44913571701497024],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.899999999999398,"joint_targets_rad":[-2.0199320507300103,-1.6236491178471701,1.4640500479840721,-1.411431105351048,-1.5707766580965508,-0.44913572171385086],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.919999999999387,"joint_targets_rad":[-2.019932057311414,-1.6229995367146015,1.4590412633195409,-1.407072791570834,-1.5707764951433048,-0.44913572820827924],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.939999999999376,"joint_targets_rad":[-2.019932065064322,-1.6223317695364687,1.4540122206432353,-1.4027124180499366,-1.5707763307705152,-0.44913573587374217],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.959999999999365,"joint_targets_rad":[-2.0199320733214865,-1.6216457588355622,1.4489627425072735,-1.3983498651437216,-1.5707761649304464,-0.4491357440444577],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.979999999999354,"joint_targets_rad":[-2.0199320813692356,-1.6209414432776055,1.4438926461550472,-1.3939850117599117,-1.570775997574186,-0.4491357520081848],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":10.999999999999343,"joint_targets_rad":[-2.019932088441584,-1.6202187573955975,1.438801743213732,-1.389617735328053,-1.5707758286514368,-0.4491357590003526],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.019999999999332,"joint_targets_rad":[-2.0199320937135328,-1.6194776312747399,1.4336898393475785,-1.3852479117692125,-1.5707756581102965,-0.44913576419737233],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.03999999999932,"joint_targets_rad":[-2.0199320962933838,-1.6187179901901907,1.4285567338644583,-1.3808754154661727,-1.5707754858970118,-0.44913576670897354],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.05999999999931,"joint_targets_rad":[-2.01993209521389,-1.6179397541879599,1.423402219266301,-1.3765001192344768,-1.5707753119557089,-0.44913576556937074],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.079999999999298,"joint_targets_rad":[-2.019932089421988,-1.6171428375967505,1.4182260807316702,-1.3721218942947913,-1.570775136228085,-0.44913575972701847],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.099999999999287,"joint_targets_rad":[-2.019932077766798,-1.6163271484552688,1.4130280955155492,-1.3677406102471898,-1.5707749586530595,-0.44913574803263123],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.119999999999276,"joint_targets_rad":[-2.0199320589855323,-1.6154925878351538,1.4078080322472553,-1.3633561350481722,-1.5707747791663618,-0.44913572922511685],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.139999999999265,"joint_targets_rad":[-2.0199320316868077,-1.614639049033852,1.4025656501018284,-1.3589683349915194,-1.5707745977000522,-0.4491357019149185],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.159999999999254,"joint_targets_rad":[-2.0199319943307583,-1.6137664166038261,1.3973006978126377,-1.354577074694414,-1.570774414181944,-0.4491356645641603],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.179999999999243,"joint_targets_rad":[-2.0199319452051436,-1.612874565173604,1.3920129124825844,-1.3501822170908386,-1.5707742285349056,-0.4491356154627945],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.199999999999232,"joint_targets_rad":[-2.019931882396421,-1.6119633580009953,1.3867020181367813,-1.3457836234349514,-1.5707740406760033,-0.4491355526997208],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.21999999999922,"joint_targets_rad":[-2.0199318037544143,-1.6110326451773358,1.3813677239391184,-1.341381153318217,-1.5707738505154336,-0.4491354741275116],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.23999999999921,"joint_targets_rad":[-2.019931706848759,-1.6100822613706833,1.3760097219656346,-1.3369746647055913,-1.5707736579551708,-0.44913537731892966],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.259999999999199,"joint_targets_rad":[-2.019931588914684,-1.609112022950591,1.3706276843845164,-1.332564013998401,-1.5707734628872343,-0.4491352595127971],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.279999999999188,"joint_targets_rad":[-2.0199314467847733,-1.6081217242691745,1.365221259827835,-1.328149056134919,-1.5707732651914241,-0.44913511754586727],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.299999999999176,"joint_targets_rad":[-2.019931276802102,-1.6071111327693273,1.3597900686414437,-1.3237296447451516,-1.5707730647323124,-0.4491349477661087],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.319999999999165,"joint_targets_rad":[-2.0199310747082353,-1.6060799824275915,1.3543336965441106,-1.3193056323847854,-1.570772861355164,-0.4491347459208924],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.339999999999154,"joint_targets_rad":[-2.0199308354968863,-1.6050279647751682,1.3488516859762785,-1.3148768708873777,-1.5707726548802856,-0.4491345070108935],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.359999999999143,"joint_targets_rad":[-2.0199305532198752,-1.6039547162992267,1.3433435239999763,-1.3104432118976168,-1.5707724450949927,-0.4491342250963905],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.379999999999132,"joint_targets_rad":[-2.0199302207259078,-1.6028598002609202,1.33780862488523,-1.3060045076903364,-1.5707722317418709,-0.4491338930365007],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.399999999999121,"joint_targets_rad":[-2.019928160043163,-1.6025765607035272,1.3370935985040482,-1.3055515952019927,-1.5707740988349281,-0.4491318372137779],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.41999999999911,"joint_targets_rad":[-2.0199260853371777,-1.6023986607576781,1.3368627711338485,-1.30547713332145,-1.5707760256365353,-0.4491297678360904],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.439999999999099,"joint_targets_rad":[-2.0199241755404294,-1.6022505640697249,1.3366689725855092,-1.3054117646545562,-1.5707777999277603,-0.4491278625263252],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.459999999999088,"joint_targets_rad":[-2.0199224201545567,-1.6021275002676998,1.3365065215018468,-1.3053544270666764,-1.5707794311875025,-0.4491261107444679],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.479999999999077,"joint_targets_rad":[-2.01992080900258,-1.6020251422264455,1.3363702455100972,-1.3053041363121318,-1.5707809287307497,-0.4491245024061374],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.499999999999066,"joint_targets_rad":[-2.019919332168379,-1.6019398949351165,1.336255800866013,-1.3052600148593245,-1.5707823016789593,-0.44912302769605167],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.519999999999055,"joint_targets_rad":[-2.0199179800462095,-1.601868795395458,1.3361595675036664,-1.305221285770026,-1.5707835588880066,-0.4491216771041859],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.539999999999043,"joint_targets_rad":[-2.019916743411143,-1.601809403081814,1.3360785322686328,-1.3051872650489513,-1.5707847088769433,-0.4491204414935553],"gripper_0_255":0.0,"phase":"retreat"},{"t_seconds":11.559999999999032,"joint_targets_rad":[-2.0199156134707814,-1.6017597072502252,1.3360101881252349,-1.3051573531740996,-1.5707857597762893,-0.4491193121511881],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.579999999999021,"joint_targets_rad":[-2.019914581898374,-1.6017180505389963,1.3359524494839747,-1.305131026435984,-1.5707867192943334,-0.4491182808211363],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.59999999999901,"joint_targets_rad":[-2.0199136408507874,-1.6016830661849544,1.3359035813915066,-1.3051078285048345,-1.570787594698045,-0.44911733972270795],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.619999999999,"joint_targets_rad":[-2.019912782974568,-1.6016536264408268,1.3358621404172268,-1.3050873624824562,-1.5707883928055226,-0.44911648155700323],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.639999999998988,"joint_targets_rad":[-2.019912001402821,-1.601628800192597,1.3358269253698616,-1.3050692835807713,-1.5707891199873731,-0.4491156995043953],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.659999999998977,"joint_targets_rad":[-2.0199112897451363,-1.6016078181333206,1.3357969362577806,-1.30505329249055,-1.5707897821748862,-0.4491149872151144],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.679999999998966,"joint_targets_rad":[-2.019910642072392,-1.6015900441442348,1.3357713401501632,-1.3050391294516384,-1.570790384873231,-0.4491143387947337],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.699999999998955,"joint_targets_rad":[-2.019910052897913,-1.6015749517751978,1.3357494428051517,-1.305026569002695,-1.570790933178268,-0.4491137487859825],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.719999999998944,"joint_targets_rad":[-2.0199095171561643,-1.6015621049143334,1.335730665109897,-1.3050154153684281,-1.5707914317958147,-0.4491132121480816],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.739999999998933,"joint_targets_rad":[-2.019909030179928,-1.6015511418991297,1.3357145235298535,-1.305005498431579,-1.570791885062463,-0.4491127242344964],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.759999999998922,"joint_targets_rad":[-2.0199085876767016,-1.6015417624545587,1.3357006138941763,-1.3049966702323588,-1.5707922969672246,-0.4491122807698751],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.77999999999891,"joint_targets_rad":[-2.019908185704879,-1.6015337169534196,1.3356885979538655,-1.304988801937678,-1.570792671173452,-0.44911187782671586],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.7999999999989,"joint_targets_rad":[-2.0199078206501704,-1.6015267975841347,1.3356781922420429,-1.3049817812246904,-1.570793011040602,-0.44911151180221276],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.819999999998888,"joint_targets_rad":[-2.019907489202574,-1.6015208310853084,1.3356691588438654,-1.3049755100268976,-1.5707933196455364,-0.44911117939561224],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.839999999998877,"joint_targets_rad":[-2.019907188334134,-1.6015156727671822,1.3356612977492766,-1.3049699025955934,-1.5707935998031122,-0.4491108775863067],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.859999999998866,"joint_targets_rad":[-2.019906915277666,-1.6015112015901651,1.33565444051685,-1.3049648838342311,-1.5707938540859085,-0.44911060361285254],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.879999999998855,"joint_targets_rad":[-2.019906667506542,-1.6015073161117188,1.335648445023045,-1.3049603878680915,-1.5707940848429787,-0.44911035495300766],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.899999999998844,"joint_targets_rad":[-2.0199064427156093,-1.6015039311466424,1.3356431911096756,-1.304956356816222,-1.570794294217565,-0.4491101293048721],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.919999999998833,"joint_targets_rad":[-2.0199062388032702,-1.6015009750135476,1.335638576974432,-1.304952739736826,-1.570794484163737,-0.449109924569155],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.939999999998822,"joint_targets_rad":[-2.0199060538547253,-1.6014983872631112,1.3356345161760248,-1.3049494917211695,-1.5707946564619575,-0.44910973883258215],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.95999999999881,"joint_targets_rad":[-2.0199058861263643,-1.601496116802375,1.3356309351476134,-1.304946573114468,-1.5707948127335856,-0.44910957035242277],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.9799999999988,"joint_targets_rad":[-2.019905734031275,-1.601494120344736,1.3356277711306712,-1.3049439488453012,-1.5707949544543418,-0.44910941754211725],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":11.999999999998789,"joint_targets_rad":[-2.0199055961258225,-1.6014923611278722,1.335624970456606,-1.3049415878477182,-1.5707950829667776,-0.44910927895795566],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.019999999998777,"joint_targets_rad":[-2.0199054710972555,-1.6014908078521801,1.3356224871161366,-1.3049394625625377,-1.570795199491794,-0.4491091532867712],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.039999999998766,"joint_targets_rad":[-2.019905357752284,-1.601489433800801,1.3356202815668494,-1.3049375485063162,-1.5707953051392556,-0.4491090393345846],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.059999999998755,"joint_targets_rad":[-2.019905255006568,-1.6014882161092596,1.335618319737993,-1.30493582389819,-1.5707954009177583,-0.4491089360161576],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.079999999998744,"joint_targets_rad":[-2.019905161875069,-1.6014871351584656,1.3356165721987092,-1.304934269336232,-1.5707954877435983,-0.4491088423453906],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.099999999998733,"joint_targets_rad":[-2.019905077463198,-1.6014861740694997,1.3356150134617992,-1.3049328675162581,-1.570795566448995,-0.4491087574265133],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.119999999998722,"joint_targets_rad":[-2.019905000958706,-1.6014853182824509,1.3356136213999341,-1.304931602987019,-1.570795637789626,-0.4491086804460144],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.139999999998711,"joint_targets_rad":[-2.01990493162427,-1.6014845552047472,1.335612376755327,-1.3049304619366924,-1.5707957024515187,-0.44910861066524793],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.1599999999987,"joint_targets_rad":[-2.0199048687907144,-1.6014838739169546,1.3356112627270553,-1.3049294320062774,-1.5707957610573482,-0.44910854741368494],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.179999999998689,"joint_targets_rad":[-2.019904811850818,-1.6014832649262172,1.3356102646230883,-1.304928502126201,-1.57079581417219,-0.44910849008274023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.199999999998678,"joint_targets_rad":[-2.019904760253672,-1.6014827199591841,1.3356093695662261,-1.304927662372969,-1.5707958623087643,-0.4491084381201392],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.219999999998667,"joint_targets_rad":[-2.019904713499527,-1.6014822317877369,1.335608566245045,-1.3049269038431597,-1.5707959059322236,-0.44910839102478517],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.239999999998656,"joint_targets_rad":[-2.019904671135103,-1.601481794081998,1.335607844702487,-1.30492621854246,-1.5707959454645088,-0.4491083483420747],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.259999999998644,"joint_targets_rad":[-2.0199046327493195,-1.601481401286059,1.3356071961559541,-1.3049255992877586,-1.5707959812883205,-0.4491083096596369],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.279999999998633,"joint_targets_rad":[-2.0199045979694046,-1.6014810485126691,1.3356066128438633,-1.3049250396206344,-1.5707960137507295,-0.4491082746034473],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.299999999998622,"joint_targets_rad":[-2.019904566457359,-1.6014807314537705,1.335606087894427,-1.3049245337307587,-1.5707960431664671,-0.4491082428343003],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.319999999998611,"joint_targets_rad":[-2.0199045379067404,-1.6014804463042915,1.335605615213138,-1.3049240763879737,-1.5707960698209107,-0.4491082140445903],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.3399999999986,"joint_targets_rad":[-2.0199045120397385,-1.6014801896970885,1.3356051893860956,-1.304923662881991,-1.5707960939728025,-0.44910818795539437],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.359999999998589,"joint_targets_rad":[-2.0199044886045177,-1.60147995864723,1.3356048055966547,-1.3049232889687417,-1.5707961158567192,-0.4491081643138138],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.379999999998578,"joint_targets_rad":[-2.019904467372806,-1.6014797505041858,1.3356044595534555,-1.3049229508226166,-1.5707961356853144,-0.4491081428905635],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.399999999998567,"joint_targets_rad":[-2.0199044481376993,-1.6014795629106615,1.3356041474280467,-1.3049226449938658,-1.5707961536513562,-0.4491081234777769],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.419999999998556,"joint_targets_rad":[-2.0199044307116742,-1.6014793937670835,1.3356038658007472,-1.3049223683705704,-1.5707961699295783,-0.44910810588701794],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.439999999998545,"joint_targets_rad":[-2.0199044149247793,-1.601479241200864,1.3356036116135033,-1.3049221181446577,-1.5707961846783585,-0.44910808994747287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.459999999998534,"joint_targets_rad":[-2.019904400622996,-1.60147910353974,1.3356033821287467,-1.3049218917814793,-1.570796198041244,-0.44910807550430776],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.479999999998522,"joint_targets_rad":[-2.0199043876667515,-1.6014789792885822,1.335603174893417,-1.3049216869925813,-1.5707962101483335,-0.44910806241717965],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.499999999998511,"joint_targets_rad":[-2.0199043759295665,-1.6014788671091793,1.335602987707412,-1.3049215017112878,-1.5707962211175364,-0.44910805055888653],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.5199999999985,"joint_targets_rad":[-2.0199043652968336,-1.6014787658025633,1.3356028185958693,-1.3049213340707881,-1.5707962310557062,-0.4491080398141397],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.53999999999849,"joint_targets_rad":[-2.019904355664702,-1.6014786742935285,1.3356026657847582,-1.3049211823844733,-1.5707962400596787,-0.4491080300784508],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.559999999998478,"joint_targets_rad":[-2.0199043469390747,-1.6014785916170358,1.3356025276793442,-1.30492104512826,-1.570796248217206,-0.4491080212571236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.579999999998467,"joint_targets_rad":[-2.0199043390346945,-1.6014785169062504,1.3356024028451592,-1.3049209209247017,-1.5707962556078081,-0.44910801326433786],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.599999999998456,"joint_targets_rad":[-2.0199043318743106,-1.601478449381991,1.3356022899911353,-1.30492080852869,-1.5707962623035425,-0.44910800602231876],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.619999999998445,"joint_targets_rad":[-2.0199043253879334,-1.601478388343408,1.3356021879546538,-1.3049207068145892,-1.5707962683697025,-0.4491079994605866],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.639999999998434,"joint_targets_rad":[-2.0199043195121513,-1.601478333159735,1.3356020956882606,-1.3049206147646435,-1.5707962738654544,-0.4491079935152708],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.659999999998423,"joint_targets_rad":[-2.019904314189512,-1.601478283262969,1.3356020122478343,-1.3049205314585361,-1.5707962788444068,-0.4491079881284913],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.679999999998412,"joint_targets_rad":[-2.019904309367967,-1.6014782381413712,1.3356019367820542,-1.3049204560639744,-1.570796283355135,-0.4491079832478002],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.6999999999984,"joint_targets_rad":[-2.01990430500036,-1.6014781973336873,1.3356018685229976,-1.3049203878282034,-1.5707962874416523,-0.4491079788256712],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.71999999999839,"joint_targets_rad":[-2.01990430104397,-1.6014781604239954,1.3356018067777362,-1.3049203260703457,-1.5707962911438373,-0.44910797481903647],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.739999999998378,"joint_targets_rad":[-2.019904297460094,-1.6014781270371081,1.3356017509208256,-1.3049202701744913,-1.570796294497822,-0.44910797118887125],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.759999999998367,"joint_targets_rad":[-2.0199042942136693,-1.6014780968344728,1.3356017003875766,-1.3049202195834635,-1.5707962975363443,-0.4491079678998149],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.779999999998356,"joint_targets_rad":[-2.019904291272933,-1.6014780695104964,1.3356016546680287,-1.304920173793183,-1.5707963002890648,-0.4491079649198249],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.799999999998345,"joint_targets_rad":[-2.019904288609109,-1.601478044789261,1.335601613301538,-1.3049201323475845,-1.5707963027828578,-0.4491079622198687],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.819999999998334,"joint_targets_rad":[-2.019904286196129,-1.6014780224215794,1.335601575871928,-1.3049200948340234,-1.5707963050420706,-0.44910795977363843],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.839999999998323,"joint_targets_rad":[-2.019904284010378,-1.6014780021823543,1.3356015420031218,-1.30492006087912,-1.5707963070887638,-0.44910795755729693],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.859999999998312,"joint_targets_rad":[-2.019904282030464,-1.6014779838682056,1.3356015113552275,-1.3049200301450166,-1.5707963089429229,-0.4491079555492464],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.8799999999983,"joint_targets_rad":[-2.0199042802370064,-1.6014779672953419,1.3356014836210026,-1.3049200023259786,-1.5707963106226548,-0.4491079537299163],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.89999999999829,"joint_targets_rad":[-2.0199042786124504,-1.6014779522976437,1.3356014585226883,-1.3049199771453401,-1.5707963121443647,-0.4491079520815744],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.919999999998279,"joint_targets_rad":[-2.019904277140893,-1.6014779387249454,1.3356014358091395,-1.3049199543527201,-1.5707963135229153,-0.4491079505881551],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.939999999998268,"joint_targets_rad":[-2.019904275807927,-1.6014779264414782,1.3356014152532563,-1.304919933721532,-1.5707963147717718,-0.44910794923510006],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.959999999998256,"joint_targets_rad":[-2.0199042746005036,-1.6014779153244803,1.3356013966496598,-1.304919915046709,-1.5707963159031328,-0.44910794800921966],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.979999999998245,"joint_targets_rad":[-2.0199042735068002,-1.6014779052629338,1.3356013798125954,-1.3049198981426595,-1.570796316928051,-0.4491079468985638],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":12.999999999998234,"joint_targets_rad":[-2.019904272516108,-1.6014778961564333,1.3356013645740445,-1.3049198828414124,-1.5707963178565385,-0.44910794589230324],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.019999999998223,"joint_targets_rad":[-2.0199042716187265,-1.6014778879141613,1.335601350782018,-1.3049198689909407,-1.5707963186976663,-0.44910794498062834],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.039999999998212,"joint_targets_rad":[-2.019904270805869,-1.6014778804539682,1.3356013382990226,-1.30491985645365,-1.5707963194596528,-0.44910794415464955],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.059999999998201,"joint_targets_rad":[-2.019904270069575,-1.601477873701537,1.3356013270006675,-1.3049198451050021,-1.570796320149943,-0.44910794340631316],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.07999999999819,"joint_targets_rad":[-2.0199042694026343,-1.6014778675896335,1.3356013167744083,-1.3049198348322766,-1.5707963207752818,-0.44910794272832205],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.099999999998179,"joint_targets_rad":[-2.019904268798516,-1.6014778620574266,1.335601307518415,-1.3049198255334467,-1.570796321341779,-0.44910794211406463],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.119999999998168,"joint_targets_rad":[-2.0199042682513015,-1.6014778570498747,1.335601299140549,-1.304919817116167,-1.5707963218549714,-0.44910794155755107],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.139999999998157,"joint_targets_rad":[-2.0199042677556336,-1.6014778525171756,1.3356012915574367,-1.30491980949685,-1.5707963223198735,-0.44910794105335344],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.159999999998146,"joint_targets_rad":[-2.019904267306656,-1.601477848414262,1.335601284693632,-1.3049198025998374,-1.5707963227410289,-0.4491079405965544],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.179999999998135,"joint_targets_rad":[-2.019904266899972,-1.6014778447003493,1.3356012784808584,-1.3049197963566457,-1.570796323122553,-0.4491079401827],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.199999999998123,"joint_targets_rad":[-2.019904266531597,-1.6014778413385338,1.3356012728573348,-1.3049197907052887,-1.570796323468175,-0.449107939807752],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.219999999998112,"joint_targets_rad":[-2.0199042661979245,-1.6014778382954122,1.3356012677671414,-1.304919785589656,-1.5707963237812732,-0.4491079394680546],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.239999999998101,"joint_targets_rad":[-2.0199042658956845,-1.6014778355407586,1.3356012631596774,-1.3049197809589592,-1.5707963240649068,-0.4491079391602934],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.25999999999809,"joint_targets_rad":[-2.019904265621917,-1.6014778330472137,1.335601258989143,-1.3049197767672258,-1.570796324321849,-0.449107938881468],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.27999999999808,"joint_targets_rad":[-2.0199042653739396,-1.6014778307900177,1.33560125521409,-1.3049197729728415,-1.5707963245546108,-0.449107938628856],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.299999999998068,"joint_targets_rad":[-2.0199042651493233,-1.6014778287467586,1.3356012517970026,-1.3049197695381385,-1.570796324765468,-0.44910793839999474],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.319999999998057,"joint_targets_rad":[-2.0199042649458674,-1.6014778268971537,1.3356012487039277,-1.3049197664290202,-1.5707963249564818,-0.449107938192651],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.339999999998046,"joint_targets_rad":[-2.019904264761579,-1.601477825222843,1.3356012459041327,-1.3049197636146213,-1.5707963251295183,-0.449107938004802],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.359999999998035,"joint_targets_rad":[-2.0199042645946523,-1.60147782370721,1.3356012433698061,-1.3049197610670056,-1.5707963252862702,-0.44910793783461533],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.379999999998024,"joint_targets_rad":[-2.0199042644434524,-1.6014778223352106,1.3356012410757683,-1.3049197587608823,-1.57079632542827,-0.4491079376804311],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.399999999998013,"joint_targets_rad":[-2.0199042643064966,-1.6014778210932328,1.3356012389992353,-1.3049197566733604,-1.5707963255569053,-0.449107937540743],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.419999999998002,"joint_targets_rad":[-2.0199042641824443,-1.601477819968951,1.33560123711958,-1.3049197547837177,-1.5707963256734339,-0.4491079374141901],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.43999999999799,"joint_targets_rad":[-2.019904264070079,-1.60147781895121,1.3356012354181341,-1.304919753073197,-1.5707963257789954,-0.4491079372995374],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.45999999999798,"joint_targets_rad":[-2.0199042639683005,-1.6014778180299125,1.3356012338779988,-1.3049197515248188,-1.5707963258746214,-0.4491079371956645],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.479999999997968,"joint_targets_rad":[-2.019904263876111,-1.601477817195919,1.3356012324838809,-1.3049197501232135,-1.5707963259612474,-0.44910793710155933],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.499999999997957,"joint_targets_rad":[-2.0199042637926077,-1.601477816440954,1.3356012312219325,-1.304919748854468,-1.5707963260397197,-0.44910793701630314],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.519999999997946,"joint_targets_rad":[-2.0199042637169713,-1.6014778157575296,1.3356012300796245,-1.3049197477059888,-1.5707963261108067,-0.44910793693906403],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.539999999997935,"joint_targets_rad":[-2.019904263648462,-1.6014778151388656,1.3356012290456138,-1.3049197466663773,-1.570796326175202,-0.44910793686908823],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.559999999997924,"joint_targets_rad":[-2.0199042635864073,-1.6014778145788253,1.3356012281096312,-1.3049197457253112,-1.570796326233537,-0.44910793680569244],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.579999999997913,"joint_targets_rad":[-2.0199042635302,-1.6014778140718529,1.3356012272623832,-1.3049197448734509,-1.5707963262863809,-0.44910793674825866],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.599999999997902,"joint_targets_rad":[-2.0199042634792876,-1.6014778136129197,1.3356012264954569,-1.3049197441023401,-1.5707963263342508,-0.4491079366962253],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.61999999999789,"joint_targets_rad":[-2.019904263433173,-1.601477813197474,1.3356012258012375,-1.3049197434043247,-1.570796326377615,-0.4491079366490854],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.63999999999788,"joint_targets_rad":[-2.0199042633914037,-1.6014778128213945,1.3356012251728324,-1.3049197427724761,-1.5707963264168971,-0.44910793660637893],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.659999999997869,"joint_targets_rad":[-2.0199042633535695,-1.6014778124809508,1.335601224604001,-1.3049197422005214,-1.570796326452482,-0.44910793656768855],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.679999999997857,"joint_targets_rad":[-2.0199042633193,-1.601477812172767,1.3356012240890969,-1.3049197416827851,-1.5707963264847171,-0.4491079365326366],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.699999999997846,"joint_targets_rad":[-2.0199042632882613,-1.601477811893786,1.3356012236230064,-1.3049197412141254,-1.5707963265139178,-0.4491079365008816],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.719999999997835,"joint_targets_rad":[-2.019904263260146,-1.6014778116412398,1.3356012232011027,-1.3049197407898925,-1.5707963265403702,-0.44910793647211245],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.739999999997824,"joint_targets_rad":[-2.01990426323468,-1.6014778114126242,1.3356012228191965,-1.3049197404058743,-1.5707963265643319,-0.4491079364460491],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.759999999997813,"joint_targets_rad":[-2.019904263211614,-1.6014778112056718,1.3356012224734954,-1.3049197400582586,-1.5707963265860385,-0.449107936422437],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.779999999997802,"joint_targets_rad":[-2.0199042631907216,-1.6014778110183288,1.3356012221605666,-1.3049197397435943,-1.5707963266057017,-0.4491079364010463],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.799999999997791,"joint_targets_rad":[-2.0199042631717976,-1.6014778108487384,1.3356012218773052,-1.304919739458759,-1.5707963266235134,-0.44910793638166685],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.81999999999778,"joint_targets_rad":[-2.019904263154657,-1.601477810695219,1.3356012216208988,-1.3049197392009249,-1.5707963266396487,-0.4491079363641101],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.839999999997769,"joint_targets_rad":[-2.0199042631391313,-1.6014778105562455,1.3356012213887976,-1.3049197389675313,-1.5707963266542655,-0.44910793634820434],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.859999999997758,"joint_targets_rad":[-2.019904263125069,-1.6014778104304415,1.3356012211787023,-1.3049197387562632,-1.5707963266675056,-0.4491079363337948],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.879999999997747,"joint_targets_rad":[-2.019904263112332,-1.6014778103165588,1.3356012209885242,-1.304919738565022,-1.5707963266794998,-0.4491079363207404],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.899999999997736,"joint_targets_rad":[-2.0199042631007953,-1.6014778102134666,1.3356012208163748,-1.30491973839191,-1.5707963266903644,-0.4491079363089148],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.919999999997724,"joint_targets_rad":[-2.0199042630903454,-1.6014778101201437,1.3356012206605459,-1.3049197382352078,-1.5707963267002063,-0.4491079362982007],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.939999999997713,"joint_targets_rad":[-2.019904263080881,-1.6014778100356644,1.3356012205194905,-1.304919738093361,-1.570796326709122,-0.4491079362884943],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.959999999997702,"joint_targets_rad":[-2.019904263072308,-1.6014778099591902,1.3356012203918075,-1.3049197379649604,-1.570796326717198,-0.4491079362797013],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.979999999997691,"joint_targets_rad":[-2.019904263064543,-1.6014778098899627,1.3356012202762293,-1.3049197378487323,-1.5707963267245135,-0.4491079362717356],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":13.99999999999768,"joint_targets_rad":[-2.0199042630575095,-1.601477809827295,1.3356012201716085,-1.304919737743522,-1.5707963267311407,-0.44910793626451906],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.019999999997669,"joint_targets_rad":[-2.019904263051139,-1.6014778097705664,1.3356012200769063,-1.304919737648286,-1.5707963267371436,-0.4491079362579813],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.039999999997658,"joint_targets_rad":[-2.0199042630453694,-1.6014778097192133,1.3356012199911818,-1.3049197375620776,-1.5707963267425815,-0.4491079362520579],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.059999999997647,"joint_targets_rad":[-2.019904263040143,-1.6014778096727262,1.3356012199135843,-1.304919737484041,-1.5707963267475076,-0.4491079362466923],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.079999999997636,"joint_targets_rad":[-2.0199042630354094,-1.6014778096306443,1.3356012198433433,-1.3049197374134032,-1.5707963267519698,-0.44910793624183126],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.099999999997625,"joint_targets_rad":[-2.0199042630311217,-1.6014778095925506,1.3356012197797622,-1.304919737349462,-1.5707963267560119,-0.4491079362374272],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.119999999997614,"joint_targets_rad":[-2.019904263027238,-1.601477809558067,1.3356012197222087,-1.304919737291582,-1.5707963267596732,-0.44910793623343814],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.139999999997602,"joint_targets_rad":[-2.0199042630237205,-1.6014778095268505,1.335601219670111,-1.3049197372391887,-1.5707963267629899,-0.4491079362298238],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.159999999997591,"joint_targets_rad":[-2.0199042630205346,-1.6014778094985924,1.3356012196229534,-1.3049197371917631,-1.5707963267659946,-0.44910793622654954],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.17999999999758,"joint_targets_rad":[-2.0199042630176494,-1.6014778094730122,1.3356012195802658,-1.3049197371488328,-1.5707963267687157,-0.4491079362235837],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.19999999999757,"joint_targets_rad":[-2.0199042630150355,-1.6014778094498567,1.3356012195416263,-1.3049197371099726,-1.5707963267711813,-0.4491079362208964],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.219999999997558,"joint_targets_rad":[-2.0199042630126685,-1.6014778094288953,1.3356012195066496,-1.3049197370747965,-1.5707963267734144,-0.4491079362184623],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.239999999997547,"joint_targets_rad":[-2.0199042630105235,-1.60147780940992,1.3356012194749882,-1.3049197370429546,-1.5707963267754377,-0.4491079362162568],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.259999999997536,"joint_targets_rad":[-2.019904263008582,-1.6014778093927426,1.3356012194463287,-1.3049197370141314,-1.5707963267772698,-0.4491079362142586],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.279999999997525,"joint_targets_rad":[-2.0199042630068225,-1.6014778093771942,1.3356012194203881,-1.304919736988042,-1.5707963267789298,-0.4491079362124491],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.299999999997514,"joint_targets_rad":[-2.019904263005229,-1.6014778093631181,1.3356012193969047,-1.3049197369644245,-1.5707963267804335,-0.4491079362108098],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.319999999997503,"joint_targets_rad":[-2.0199042630037862,-1.6014778093503772,1.335601219375649,-1.3049197369430467,-1.5707963267817953,-0.4491079362093245],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.339999999997492,"joint_targets_rad":[-2.019904263002479,-1.6014778093388429,1.3356012193564089,-1.3049197369236958,-1.5707963267830294,-0.4491079362079785],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.35999999999748,"joint_targets_rad":[-2.019904263001295,-1.6014778093284017,1.3356012193389915,-1.304919736906179,-1.5707963267841467,-0.44910793620675965],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.37999999999747,"joint_targets_rad":[-2.019904263000223,-1.6014778093189503,1.3356012193232263,-1.3049197368903227,-1.570796326785159,-0.4491079362056553],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.399999999997458,"joint_targets_rad":[-2.0199042629992516,-1.6014778093103943,1.3356012193089548,-1.3049197368759693,-1.570796326786076,-0.449107936204655],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.419999999997447,"joint_targets_rad":[-2.019904262998372,-1.6014778093026492,1.3356012192960371,-1.304919736862977,-1.570796326786907,-0.44910793620374845],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.439999999997436,"joint_targets_rad":[-2.019904262997575,-1.6014778092956383,1.3356012192843443,-1.3049197368512166,-1.5707963267876592,-0.4491079362029279],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.459999999997425,"joint_targets_rad":[-2.019904262996854,-1.6014778092892925,1.3356012192737612,-1.3049197368405718,-1.5707963267883407,-0.44910793620218376],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.479999999997414,"joint_targets_rad":[-2.0199042629962,-1.6014778092835467,1.3356012192641786,-1.3049197368309349,-1.5707963267889582,-0.44910793620151007],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.499999999997403,"joint_targets_rad":[-2.019904262995608,-1.6014778092783462,1.3356012192555067,-1.3049197368222123,-1.5707963267895175,-0.44910793620089956],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.519999999997392,"joint_targets_rad":[-2.019904262995072,-1.6014778092736384,1.3356012192476565,-1.3049197368143168,-1.5707963267900242,-0.44910793620034656],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.53999999999738,"joint_targets_rad":[-2.019904262994586,-1.6014778092693762,1.33560121924055,-1.3049197368071694,-1.570796326790483,-0.44910793619984607],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.55999999999737,"joint_targets_rad":[-2.019904262994146,-1.6014778092655193,1.335601219234118,-1.3049197368006997,-1.5707963267908986,-0.4491079361993918],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.579999999997359,"joint_targets_rad":[-2.019904262993748,-1.6014778092620268,1.3356012192282956,-1.3049197367948437,-1.5707963267912752,-0.4491079361989812],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.599999999997348,"joint_targets_rad":[-2.0199042629933865,-1.601477809258866,1.3356012192230253,-1.3049197367895429,-1.5707963267916163,-0.44910793619860867],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.619999999997336,"joint_targets_rad":[-2.01990426299306,-1.6014778092560045,1.335601219218255,-1.3049197367847443,-1.5707963267919252,-0.449107936198271],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.639999999997325,"joint_targets_rad":[-2.019904262992764,-1.6014778092534143,1.3356012192139368,-1.3049197367804013,-1.5707963267922052,-0.44910793619796596],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.659999999997314,"joint_targets_rad":[-2.0199042629924957,-1.6014778092510693,1.3356012192100277,-1.3049197367764696,-1.5707963267924587,-0.44910793619768874],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.679999999997303,"joint_targets_rad":[-2.019904262992253,-1.6014778092489468,1.335601219206489,-1.3049197367729097,-1.5707963267926885,-0.44910793619743733],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.699999999997292,"joint_targets_rad":[-2.0199042629920334,-1.601477809247025,1.335601219203286,-1.3049197367696885,-1.5707963267928964,-0.44910793619721123],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.719999999997281,"joint_targets_rad":[-2.019904262991834,-1.6014778092452862,1.3356012192003874,-1.3049197367667726,-1.570796326793085,-0.449107936197005],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.73999999999727,"joint_targets_rad":[-2.0199042629916537,-1.6014778092437114,1.3356012191977624,-1.3049197367641325,-1.5707963267932554,-0.44910793619681866],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.759999999997259,"joint_targets_rad":[-2.0199042629914903,-1.6014778092422863,1.3356012191953872,-1.3049197367617433,-1.57079632679341,-0.4491079361966497],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.779999999997248,"joint_targets_rad":[-2.019904262991342,-1.6014778092409965,1.3356012191932374,-1.3049197367595804,-1.57079632679355,-0.4491079361964965],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.799999999997237,"joint_targets_rad":[-2.0199042629912083,-1.6014778092398285,1.3356012191912907,-1.3049197367576224,-1.570796326793677,-0.4491079361963581],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.819999999997226,"joint_targets_rad":[-2.0199042629910866,-1.601477809238771,1.3356012191895295,-1.3049197367558514,-1.5707963267937917,-0.4491079361962329],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.839999999997215,"joint_targets_rad":[-2.0199042629909765,-1.6014778092378141,1.3356012191879345,-1.3049197367542469,-1.570796326793896,-0.44910793619611883],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.859999999997203,"joint_targets_rad":[-2.019904262990877,-1.6014778092369477,1.3356012191864908,-1.3049197367527945,-1.5707963267939902,-0.4491079361960153],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.879999999997192,"joint_targets_rad":[-2.0199042629907864,-1.6014778092361632,1.3356012191851832,-1.3049197367514798,-1.5707963267940754,-0.44910793619592204],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.899999999997181,"joint_targets_rad":[-2.019904262990705,-1.6014778092354538,1.3356012191840012,-1.30491973675029,-1.5707963267941527,-0.449107936195838],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.91999999999717,"joint_targets_rad":[-2.019904262990631,-1.6014778092348114,1.3356012191829307,-1.3049197367492136,-1.5707963267942227,-0.44910793619576106],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.939999999997159,"joint_targets_rad":[-2.019904262990564,-1.6014778092342297,1.3356012191819615,-1.3049197367482384,-1.5707963267942864,-0.4491079361956916],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.959999999997148,"joint_targets_rad":[-2.0199042629905035,-1.6014778092337034,1.3356012191810849,-1.3049197367473566,-1.5707963267943439,-0.44910793619562905],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.979999999997137,"joint_targets_rad":[-2.0199042629904485,-1.6014778092332265,1.3356012191802904,-1.3049197367465573,-1.5707963267943956,-0.4491079361955719],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":14.999999999997126,"joint_targets_rad":[-2.0199042629903983,-1.6014778092327953,1.3356012191795714,-1.3049197367458343,-1.5707963267944431,-0.44910793619552014],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.019999999997115,"joint_targets_rad":[-2.0199042629903534,-1.6014778092324047,1.3356012191789208,-1.3049197367451797,-1.5707963267944858,-0.4491079361954737],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.039999999997104,"joint_targets_rad":[-2.0199042629903126,-1.601477809232051,1.3356012191783322,-1.3049197367445877,-1.5707963267945246,-0.4491079361954314],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.059999999997093,"joint_targets_rad":[-2.0199042629902757,-1.6014778092317308,1.3356012191777988,-1.3049197367440513,-1.5707963267945597,-0.44910793619539313],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.079999999997082,"joint_targets_rad":[-2.019904262990242,-1.6014778092314412,1.3356012191773168,-1.304919736743566,-1.570796326794591,-0.44910793619535794],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.09999999999707,"joint_targets_rad":[-2.0199042629902118,-1.6014778092311788,1.3356012191768796,-1.3049197367431262,-1.57079632679462,-0.44910793619532646],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.11999999999706,"joint_targets_rad":[-2.019904262990184,-1.6014778092309414,1.3356012191764843,-1.304919736742729,-1.570796326794646,-0.4491079361952985],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.139999999997048,"joint_targets_rad":[-2.019904262990159,-1.601477809230727,1.3356012191761266,-1.304919736742369,-1.5707963267946699,-0.4491079361952721],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.159999999997037,"joint_targets_rad":[-2.0199042629901367,-1.6014778092305324,1.3356012191758022,-1.3049197367420426,-1.570796326794691,-0.44910793619524864],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.179999999997026,"joint_targets_rad":[-2.0199042629901163,-1.6014778092303563,1.3356012191755096,-1.3049197367417478,-1.5707963267947103,-0.44910793619522776],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.199999999997015,"joint_targets_rad":[-2.019904262990098,-1.6014778092301971,1.3356012191752438,-1.3049197367414809,-1.570796326794728,-0.4491079361952085],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.219999999997004,"joint_targets_rad":[-2.019904262990081,-1.6014778092300526,1.3356012191750035,-1.304919736741239,-1.570796326794744,-0.44910793619519107],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.239999999996993,"joint_targets_rad":[-2.019904262990066,-1.6014778092299218,1.3356012191747855,-1.3049197367410201,-1.5707963267947584,-0.4491079361951757],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.259999999996982,"joint_targets_rad":[-2.019904262990052,-1.6014778092298039,1.3356012191745894,-1.304919736740823,-1.570796326794771,-0.44910793619516143],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.27999999999697,"joint_targets_rad":[-2.01990426299004,-1.6014778092296966,1.335601219174411,-1.304919736740643,-1.570796326794783,-0.44910793619514844],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.29999999999696,"joint_targets_rad":[-2.019904262990029,-1.6014778092295998,1.3356012191742492,-1.3049197367404803,-1.5707963267947938,-0.44910793619513645],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.319999999996949,"joint_targets_rad":[-2.0199042629900186,-1.6014778092295119,1.3356012191741036,-1.3049197367403342,-1.5707963267948035,-0.44910793619512596],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.339999999996937,"joint_targets_rad":[-2.0199042629900092,-1.6014778092294326,1.3356012191739717,-1.3049197367402012,-1.5707963267948124,-0.4491079361951166],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.359999999996926,"joint_targets_rad":[-2.0199042629900004,-1.6014778092293613,1.3356012191738527,-1.3049197367400809,-1.5707963267948202,-0.44910793619510764],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.379999999996915,"joint_targets_rad":[-2.019904262989993,-1.601477809229296,1.3356012191737439,-1.3049197367399719,-1.5707963267948273,-0.44910793619509953],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.399999999996904,"joint_targets_rad":[-2.019904262989986,-1.6014778092292365,1.3356012191736457,-1.3049197367398735,-1.570796326794834,-0.44910793619509276],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.419999999996893,"joint_targets_rad":[-2.01990426298998,-1.601477809229184,1.3356012191735576,-1.3049197367397842,-1.57079632679484,-0.449107936195086],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.439999999996882,"joint_targets_rad":[-2.019904262989974,-1.6014778092291353,1.3356012191734765,-1.3049197367397032,-1.570796326794845,-0.4491079361950804],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.459999999996871,"joint_targets_rad":[-2.0199042629899693,-1.6014778092290913,1.3356012191734028,-1.3049197367396292,-1.5707963267948502,-0.4491079361950746],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.47999999999686,"joint_targets_rad":[-2.0199042629899644,-1.6014778092290525,1.3356012191733384,-1.3049197367395642,-1.5707963267948546,-0.44910793619507017],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.499999999996849,"joint_targets_rad":[-2.0199042629899604,-1.6014778092290165,1.3356012191732787,-1.3049197367395038,-1.5707963267948581,-0.4491079361950657],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.519999999996838,"joint_targets_rad":[-2.019904262989957,-1.6014778092289845,1.3356012191732245,-1.3049197367394494,-1.5707963267948621,-0.44910793619506145],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.539999999996827,"joint_targets_rad":[-2.0199042629899533,-1.6014778092289552,1.3356012191731768,-1.3049197367394012,-1.5707963267948652,-0.4491079361950583],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.559999999996815,"joint_targets_rad":[-2.0199042629899497,-1.6014778092289281,1.335601219173132,-1.3049197367393561,-1.5707963267948684,-0.44910793619505474],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.579999999996804,"joint_targets_rad":[-2.0199042629899475,-1.601477809228904,1.3356012191730915,-1.3049197367393157,-1.5707963267948708,-0.4491079361950524],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.599999999996793,"joint_targets_rad":[-2.0199042629899444,-1.6014778092288824,1.3356012191730555,-1.3049197367392797,-1.5707963267948732,-0.4491079361950494],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.619999999996782,"joint_targets_rad":[-2.0199042629899426,-1.6014778092288628,1.3356012191730224,-1.3049197367392462,-1.5707963267948755,-0.4491079361950475],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.639999999996771,"joint_targets_rad":[-2.0199042629899404,-1.6014778092288449,1.3356012191729927,-1.304919736739216,-1.5707963267948775,-0.449107936195045],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.65999999999676,"joint_targets_rad":[-2.019904262989938,-1.601477809228829,1.335601219172967,-1.3049197367391898,-1.570796326794879,-0.44910793619504275],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.679999999996749,"joint_targets_rad":[-2.019904262989937,-1.6014778092288138,1.3356012191729416,-1.304919736739165,-1.570796326794881,-0.4491079361950414],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.699999999996738,"joint_targets_rad":[-2.0199042629899355,-1.6014778092288011,1.3356012191729207,-1.3049197367391439,-1.5707963267948826,-0.44910793619503947],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.719999999996727,"joint_targets_rad":[-2.0199042629899333,-1.601477809228789,1.3356012191728999,-1.304919736739123,-1.5707963267948837,-0.449107936195038],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.739999999996716,"joint_targets_rad":[-2.019904262989933,-1.6014778092287787,1.3356012191728823,-1.3049197367391048,-1.5707963267948852,-0.4491079361950366],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.759999999996705,"joint_targets_rad":[-2.019904262989931,-1.6014778092287685,1.3356012191728657,-1.3049197367390886,-1.570796326794886,-0.4491079361950354],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.779999999996694,"joint_targets_rad":[-2.01990426298993,-1.6014778092287594,1.335601219172851,-1.3049197367390737,-1.5707963267948872,-0.4491079361950343],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.799999999996682,"joint_targets_rad":[-2.0199042629899293,-1.6014778092287516,1.3356012191728377,-1.3049197367390601,-1.570796326794888,-0.4491079361950333],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.819999999996671,"joint_targets_rad":[-2.0199042629899284,-1.601477809228744,1.3356012191728257,-1.304919736739048,-1.5707963267948888,-0.4491079361950321],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.83999999999666,"joint_targets_rad":[-2.0199042629899275,-1.6014778092287376,1.3356012191728142,-1.3049197367390368,-1.5707963267948895,-0.44910793619503164],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.85999999999665,"joint_targets_rad":[-2.019904262989927,-1.6014778092287318,1.3356012191728046,-1.3049197367390268,-1.5707963267948901,-0.4491079361950315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.879999999996638,"joint_targets_rad":[-2.019904262989926,-1.601477809228726,1.3356012191727957,-1.3049197367390186,-1.570796326794891,-0.4491079361950306],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.899999999996627,"joint_targets_rad":[-2.0199042629899258,-1.6014778092287216,1.335601219172788,-1.30491973673901,-1.5707963267948912,-0.44910793619502987],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.919999999996616,"joint_targets_rad":[-2.019904262989925,-1.6014778092287167,1.3356012191727797,-1.3049197367390024,-1.570796326794892,-0.44910793619502914],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.939999999996605,"joint_targets_rad":[-2.019904262989925,-1.601477809228713,1.3356012191727729,-1.304919736738995,-1.5707963267948923,-0.4491079361950286],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.959999999996594,"joint_targets_rad":[-2.019904262989924,-1.6014778092287094,1.3356012191727675,-1.30491973673899,-1.5707963267948928,-0.44910793619502826],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.979999999996583,"joint_targets_rad":[-2.0199042629899235,-1.6014778092287059,1.3356012191727615,-1.304919736738984,-1.5707963267948932,-0.44910793619502803],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":15.999999999996572,"joint_targets_rad":[-2.0199042629899235,-1.6014778092287028,1.3356012191727564,-1.3049197367389787,-1.5707963267948934,-0.44910793619502726],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.019999999996596,"joint_targets_rad":[-2.019904262989923,-1.6014778092287003,1.3356012191727527,-1.3049197367389747,-1.570796326794894,-0.44910793619502687],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.03999999999662,"joint_targets_rad":[-2.0199042629899226,-1.6014778092286979,1.3356012191727482,-1.3049197367389704,-1.5707963267948943,-0.4491079361950265],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.059999999996645,"joint_targets_rad":[-2.0199042629899226,-1.601477809228696,1.335601219172745,-1.3049197367389669,-1.5707963267948941,-0.44910793619502654],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.07999999999667,"joint_targets_rad":[-2.019904262989922,-1.6014778092286936,1.3356012191727418,-1.304919736738964,-1.5707963267948946,-0.4491079361950264],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.099999999996694,"joint_targets_rad":[-2.0199042629899226,-1.6014778092286923,1.3356012191727393,-1.3049197367389611,-1.5707963267948946,-0.44910793619502604],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.11999999999672,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286905,1.3356012191727364,-1.304919736738958,-1.570796326794895,-0.4491079361950261],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.139999999996743,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286892,1.3356012191727336,-1.3049197367389553,-1.570796326794895,-0.4491079361950255],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.159999999996767,"joint_targets_rad":[-2.0199042629899218,-1.6014778092286879,1.3356012191727316,-1.3049197367389533,-1.570796326794895,-0.44910793619502576],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.17999999999679,"joint_targets_rad":[-2.0199042629899218,-1.601477809228686,1.335601219172729,-1.304919736738951,-1.5707963267948954,-0.44910793619502587],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.199999999996816,"joint_targets_rad":[-2.0199042629899213,-1.6014778092286854,1.335601219172727,-1.3049197367389491,-1.5707963267948957,-0.44910793619502537],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.21999999999684,"joint_targets_rad":[-2.0199042629899213,-1.601477809228685,1.335601219172727,-1.304919736738948,-1.5707963267948952,-0.449107936195025],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.239999999996865,"joint_targets_rad":[-2.0199042629899213,-1.601477809228683,1.3356012191727238,-1.3049197367389458,-1.570796326794896,-0.4491079361950253],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.25999999999689,"joint_targets_rad":[-2.0199042629899213,-1.6014778092286828,1.335601219172723,-1.3049197367389445,-1.5707963267948954,-0.44910793619502465],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.279999999996914,"joint_targets_rad":[-2.019904262989921,-1.6014778092286819,1.3356012191727222,-1.3049197367389442,-1.5707963267948957,-0.44910793619502476],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.29999999999694,"joint_targets_rad":[-2.019904262989921,-1.6014778092286814,1.3356012191727207,-1.3049197367389422,-1.570796326794896,-0.44910793619502515],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.319999999996963,"joint_targets_rad":[-2.019904262989921,-1.6014778092286805,1.335601219172719,-1.3049197367389407,-1.5707963267948963,-0.4491079361950248],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.339999999996987,"joint_targets_rad":[-2.019904262989921,-1.6014778092286799,1.3356012191727187,-1.3049197367389411,-1.570796326794896,-0.44910793619502454],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.35999999999701,"joint_targets_rad":[-2.019904262989921,-1.6014778092286797,1.3356012191727176,-1.304919736738939,-1.5707963267948961,-0.44910793619502465],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.379999999997036,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286792,1.3356012191727171,-1.3049197367389387,-1.5707963267948961,-0.4491079361950245],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.39999999999706,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286786,1.335601219172716,-1.304919736738938,-1.5707963267948963,-0.44910793619502426],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.419999999997085,"joint_targets_rad":[-2.019904262989921,-1.6014778092286779,1.335601219172715,-1.3049197367389371,-1.570796326794896,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.43999999999711,"joint_targets_rad":[-2.0199042629899204,-1.601477809228678,1.3356012191727153,-1.3049197367389371,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.459999999997134,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286779,1.3356012191727151,-1.3049197367389367,-1.5707963267948963,-0.4491079361950244],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.47999999999716,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286774,1.3356012191727147,-1.3049197367389365,-1.5707963267948961,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.499999999997183,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286777,1.3356012191727142,-1.3049197367389356,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.519999999997207,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286766,1.335601219172713,-1.3049197367389354,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.53999999999723,"joint_targets_rad":[-2.0199042629899204,-1.601477809228677,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.559999999997256,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286768,1.335601219172713,-1.3049197367389345,-1.5707963267948966,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.57999999999728,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286763,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.599999999997305,"joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.3356012191727122,-1.3049197367389345,-1.5707963267948966,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.61999999999733,"joint_targets_rad":[-2.01990426298992,-1.601477809228676,1.335601219172712,-1.3049197367389338,-1.5707963267948966,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.639999999997354,"joint_targets_rad":[-2.0199042629899204,-1.601477809228676,1.3356012191727127,-1.3049197367389345,-1.5707963267948963,-0.4491079361950244],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.65999999999738,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286759,1.335601219172712,-1.304919736738934,-1.5707963267948963,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.679999999997403,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727111,-1.3049197367389334,-1.5707963267948963,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.699999999997427,"joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.71999999999745,"joint_targets_rad":[-2.01990426298992,-1.6014778092286754,1.3356012191727116,-1.304919736738933,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.739999999997476,"joint_targets_rad":[-2.01990426298992,-1.6014778092286757,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.7599999999975,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.779999999997525,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389327,-1.5707963267948968,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.79999999999755,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389325,-1.5707963267948963,-0.44910793619502426],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.819999999997574,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.839999999997598,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.859999999997623,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.879999999997647,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727114,-1.3049197367389325,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.89999999999767,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.919999999997696,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.93999999999772,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.959999999997745,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.97999999999777,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":16.999999999997794,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.019999999997818,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.039999999997843,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.059999999997867,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.07999999999789,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502437],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.099999999997916,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.11999999999794,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.139999999997965,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.15999999999799,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.179999999998014,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.199999999998038,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.219999999998063,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.239999999998087,"joint_targets_rad":[-2.01990426298992,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.25999999999811,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.279999999998136,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.29999999999816,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.319999999998185,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.33999999999821,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.359999999998234,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.379999999998258,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.399999999998283,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.419999999998307,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.43999999999833,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389314,-1.5707963267948966,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.459999999998356,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.47999999999838,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.499999999998405,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.51999999999843,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389311,-1.5707963267948968,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.539999999998454,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.559999999998478,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.579999999998503,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.599999999998527,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.61999999999855,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.639999999998576,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.44910793619502354],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.6599999999986,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.679999999998625,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.69999999999865,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950238],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.719999999998674,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948963,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.739999999998698,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.759999999998723,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.779999999998747,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.79999999999877,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.819999999998796,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950226],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.83999999999882,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389322,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.859999999998845,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.87999999999887,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.899999999998894,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950242],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.919999999998918,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.939999999998943,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.959999999998967,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.97999999999899,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":17.999999999999016,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.01999999999904,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.039999999999065,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.05999999999909,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389316,-1.5707963267948966,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.079999999999114,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389314,-1.5707963267948968,-0.44910793619502354],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.099999999999138,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.119999999999163,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.139999999999187,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948963,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.15999999999921,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.179999999999236,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.19999999999926,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.219999999999285,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.23999999999931,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.259999999999334,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.279999999999358,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389316,-1.5707963267948968,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.299999999999383,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.319999999999407,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.44910793619502265],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.33999999999943,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948963,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.359999999999456,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.37999999999948,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948968,-0.44910793619502276],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.399999999999505,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.41999999999953,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.439999999999554,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.459999999999578,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.479999999999603,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727091,-1.304919736738931,-1.5707963267948963,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.499999999999627,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.51999999999965,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.539999999999676,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.5599999999997,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.579999999999725,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950227],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.59999999999975,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727098,-1.304919736738932,-1.5707963267948966,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.619999999999774,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.639999999999798,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.659999999999823,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.679999999999847,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.69999999999987,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.719999999999896,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.73999999999992,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502387],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.759999999999945,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.77999999999997,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.799999999999994,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.820000000000018,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.840000000000042,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.860000000000067,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502276],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.88000000000009,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.900000000000116,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948963,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.92000000000014,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950227],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.940000000000165,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.96000000000019,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.570796326794897,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":18.980000000000214,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.000000000000238,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.570796326794897,-0.4491079361950243],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.020000000000262,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.040000000000287,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948963,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.06000000000031,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.080000000000336,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.10000000000036,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.120000000000385,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.14000000000041,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.160000000000434,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.180000000000458,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.200000000000482,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.220000000000507,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.24000000000053,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.260000000000556,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.28000000000058,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502287],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.300000000000605,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950231],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.32000000000063,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502376],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.340000000000654,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.360000000000678,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.380000000000702,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950228],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.400000000000727,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.42000000000075,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.440000000000776,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389325,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.4600000000008,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.480000000000825,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.50000000000085,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.520000000000874,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.540000000000898,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.560000000000922,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727111,-1.3049197367389325,-1.5707963267948968,-0.4491079361950238],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.580000000000947,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.60000000000097,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727094,-1.3049197367389314,-1.5707963267948966,-0.44910793619502304],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.620000000000996,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.64000000000102,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389325,-1.5707963267948966,-0.44910793619502415],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.660000000001045,"joint_targets_rad":[-2.0199042629899204,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.68000000000107,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.700000000001094,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286757,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.720000000001118,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948968,-0.4491079361950241],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.740000000001142,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.760000000001167,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.78000000000119,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.800000000001216,"joint_targets_rad":[-2.01990426298992,-1.6014778092286746,1.3356012191727094,-1.3049197367389316,-1.5707963267948966,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.82000000000124,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.840000000001265,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950239],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.86000000000129,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.44910793619502404],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.880000000001314,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950235],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.900000000001338,"joint_targets_rad":[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.449107936195024],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.920000000001362,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.44910793619502365],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.940000000001387,"joint_targets_rad":[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.96000000000141,"joint_targets_rad":[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950229],"gripper_0_255":0.0,"phase":"verify"},{"t_seconds":19.980000000001436,"joint_targets_rad":[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950237],"gripper_0_255":0.0,"phase":"verify"}],"arm_tape":[[-1.57395476895268,-1.5782068270315737,1.5330932900466574,-1.525876888215949,-1.570792442903965,-0.003151182539434695],[-1.5741934325812845,-1.5784320150863114,1.5317993929360456,-1.5243580009058926,-1.5707922940977375,-0.003389936858995906],[-1.574502221729708,-1.5788047125944582,1.5282242274067193,-1.520410917272036,-1.5707920424529964,-0.003698699324337035],[-1.5748052321098012,-1.5792992502074619,1.5244278489076455,-1.5161206501007178,-1.5707919244941064,-0.004001698020276947],[-1.5751060242651538,-1.5797752346221186,1.5205960764092596,-1.5118136573187562,-1.5707917357633376,-0.0043024847505832384],[-1.5754070159359739,-1.580233878250257,1.5167450820561321,-1.5075047834417108,-1.5707915497611769,-0.004603471071038292],[-1.5757083397895266,-1.5806751298509685,1.51287570139868,-1.5031949098401773,-1.5707913699873406,-0.004904789311878566],[-1.5760100040239404,-1.5810989719220325,1.5089879225947562,-1.4988840430428538,-1.5707911960133834,-0.005206447677481638],[-1.5763120086068505,-1.5815053862603863,1.5050816721727136,-1.4945721289688865,-1.5707910272064594,-0.005508446161118228],[-1.5766143529343273,-1.5818943533673113,1.5011568705234837,-1.4902591086215435,-1.57079086297597,-0.00581078418320375],[-1.5769170363377916,-1.5822658523675752,1.4972134354963418,-1.4859449217482399,-1.5707907027845194,-0.006113461097133614],[-1.5772200581124016,-1.5826198609792035,1.4932512825777509,-1.4816295070571763,-1.5707905461437328,-0.00641647621786614],[-1.5775234175137907,-1.582956355480749,1.4892703248354895,-1.4773128022025648,-1.5707903926095315,-0.00671982881890887],[-1.577827113752336,-1.5832753106727244,1.4852704728422728,-1.4729947437545112,-1.5707902417777961,-0.007023518126804722],[-1.5781311459870229,-1.5835766998328036,1.4812516345929092,-1.468675267167955,-1.5707900932804424,-0.00732754331519922],[-1.5784355133190555,-1.5838604946644972,1.4772137154154474,-1.4643543067514821,-1.570789946781869,-0.007631903498625878],[-1.5787402147851113,-1.5841266652388823,1.4731566178756719,-1.4600317956358546,-1.570789801975737,-0.007936597725909423],[-1.579045249349982,-1.5843751799288368,1.469080241674131,-1.4557076657420478,-1.5707896585820595,-0.008241624972956345],[-1.5793506158988324,-1.5846060053352458,1.464984483534926,-1.4513818477486147,-1.5707895163445584,-0.008546984135134127],[-1.5796563132287738,-1.5848191062043553,1.4608692370851277,-1.4470542710581105,-1.5707893750282622,-0.008852674018956045],[-1.5799623400396468,-1.5850144453353627,1.4567343927236405,-1.4427248637623582,-1.570789234417331,-0.009158693332972657],[-1.580268694923955,-1.5851919834771486,1.4525798374781054,-1.4383935526062863,-1.5707890943130725,-0.009465040677792271],[-1.5805753763557375,-1.585351679212791,1.4484054548481566,-1.434060262950041,-1.5707889545321347,-0.009771714535045686],[-1.5808823826782221,-1.5854934888302754,1.4442111246330853,-1.4297249187290624,-1.570788814904859,-0.010078713255118308],[-1.5811897120900202,-1.5856173661774415,1.4399967227415542,-1.4253874424117499,-1.5707886752737674,-0.010386035043418437],[-1.5814973626297912,-1.5857232624988966,1.4357621209806444,-1.4210477549543081,-1.570788535492181,-0.010693677945116598],[-1.5818053321588377,-1.5858111262520036,1.4315071868208262,-1.4167057757522865,-1.5707883954229378,-0.011001639827802731],[-1.5821136183414297,-1.5858809028985654,1.4272317831328611,-1.4123614225882266,-1.5707882549372145,-0.011309918361890076],[-1.5824222186224486,-1.5859325346680393,1.4229357678917856,-1.408014611574776,-1.5707881139134192,-0.01161851099831455],[-1.5827311302017015,-1.5859659602871314,1.4186189938419653,-1.4036652570924233,-1.5707879722361597,-0.011927414942920577],[-1.5830403500043841,-1.5859811146695006,1.414281308115946,-1.3993132717209038,-1.570787829795261,-0.012236627126995192],[-1.5833498746470656,-1.5859779285578033,1.409922551798125,-1.3949585661630954,-1.570787686484823,-0.012546144173326534],[-1.5836597003978667,-1.5859563281082014,1.4055425594218005,-1.3906010491598868,-1.5707875422023034,-0.012855962356462957],[-1.5839698231300026,-1.5859162344051507,1.4011411583855804,-1.3862406273942367,-1.5707873968476154,-0.013166077556339174],[-1.5842802382669776,-1.5858575628908107,1.3967181682711136,-1.3818772053821013,-1.5707872503222093,-0.01347648520357455],[-1.5845909407175789,-1.5857802226890958,1.3922734000391448,-1.3775106853472892,-1.5707871025281317,-0.013787180214575326],[-1.5849019247979135,-1.5856841157984363,1.3878066550741095,-1.3731409670764843,-1.570786953367026,-0.014098156913705293],[-1.5852131841378927,-1.585569136119608,1.383317724038656,-1.3687679477495882,-1.5707868027390524,-0.014409408939924984],[-1.5855247115672684,-1.5854351682737196,1.378806385486538,-1.3643915217388913,-1.5707866505416777,-0.014720929133014303],[-1.5858364965063403,-1.5852821038058078,1.3742724824737298,-1.3600116407618164,-1.5707864968433265,-0.015032706930016505],[-1.5861485269383124,-1.585109817681674,1.3697158394787925,-1.3556282545941332,-1.570786341695404,-0.015344730332597936],[-1.5864607914452977,-1.5849181500213654,1.3651361830997977,-1.3512412503034468,-1.5707861849531382,-0.015656987938362663],[-1.586773276610989,-1.5847069223657921,1.360533215077152,-1.3468505087453604,-1.5707860264535525,-0.015969466349602356],[-1.5870859668343043,-1.5844759334343406,1.355906609288133,-1.3424559057975982,-1.5707858660214034,-0.016282149987095006],[-1.5873988438240276,-1.5842249538695015,1.351256005908172,-1.338057311793554,-1.5707857034653994,-0.01659502058559511],[-1.5877118859134844,-1.583953719190485,1.346581003348338,-1.333654590530543,-1.5707855385722076,-0.016908056509701234],[-1.5880250671297234,-1.583661920152677,1.3418811472227266,-1.3292475979113851,-1.5707853710982476,-0.01722123182466794],[-1.5883383559022437,-1.5833491892384999,1.3371559149085328,-1.324836180061181,-1.570785200758204,-0.017534515007456647],[-1.5886517132233706,-1.5830150811962302,1.3324046933306604,-1.3204201706423837,-1.5707850272084127,-0.01784786711046194],[-1.588720128801455,-1.5827824348825397,1.331194645407641,-1.3194264282156527,-1.5707856942340082,-0.01791684118981242],[-1.5887223433895057,-1.5826062750751861,1.3309713117578499,-1.3193595235853022,-1.5707863889837723,-0.0179197160036804],[-1.5887240639893123,-1.5824596296511544,1.3307840028899172,-1.3193008455559057,-1.5707870348160344,-0.017922035505688425],[-1.5887253536652115,-1.5823381165934383,1.3306275906695362,-1.3192495089986835,-1.5707876871373216,-0.01792386771012624],[-1.588726301596546,-1.5822373690285778,1.3304968972574385,-1.319204573902169,-1.5707883348850973,-0.017925307006773222],[-1.5887269817924699,-1.5821537377364294,1.330387559319099,-1.319165207490506,-1.5707889655123919,-0.01792643214713799],[-1.5887274535817533,-1.5820842193343272,1.3302959570567383,-1.3191306829915739,-1.5707895700812164,-0.01792730677635625],[-1.5887277642278015,-1.5820263459208659,1.3302190933842926,-1.3191003687028686,-1.5707901428501447,-0.017927982084793948],[-1.5887279512693757,-1.5819780893460815,1.330154487288853,-1.3190737167500735,-1.5707906805047316,-0.01792849918214332],[-1.587659944950853,-1.593196474209152,1.405252252398614,-1.3825857101581684,-1.5708219077952814,-0.01686324837420799],[-1.5877339403997095,-1.5933170010577649,1.4041190090916436,-1.3813372902420824,-1.5708213006483076,-0.016937116399428576],[-1.587742081480743,-1.5934689078397157,1.4050784549870934,-1.3821548954063725,-1.5708200690524508,-0.016945277103336976],[-1.587739593915416,-1.594015246498642,1.409081555408532,-1.3856162774346805,-1.5708194860964686,-0.01694283398222104],[-1.587745594683142,-1.5947935490865963,1.4141965242758672,-1.3899524295985106,-1.5708195009474812,-0.016948860878521328],[-1.5877605712309948,-1.5955493517402146,1.4193368021326054,-1.3943362058984996,-1.570819535581877,-0.016963839570661048],[-1.587776182025356,-1.596286961152156,1.4244598356788847,-1.3987210834606207,-1.570819551902498,-0.016979450995005356],[-1.5877918178667825,-1.5970064417471046,1.4295614053680583,-1.4031027898262043,-1.5708195485628975,-0.016995087637659313],[-1.5878074327249885,-1.597707858357082,1.4346414164592203,-1.407481149768436,-1.5708195274111714,-0.017010703520174142],[-1.5878230297490619,-1.598391264723235,1.4397000903977601,-1.4118563147706986,-1.5708194903748476,-0.017026301720638553],[-1.5878386155376736,-1.5990567106334348,1.444737663598283,-1.4162284567165742,-1.570819439211576,-0.017041888771988558],[-1.5878541964173014,-1.5997042425042802,1.4497543628063525,-1.4205977426868064,-1.570819375504266,-0.01705747094803879],[-1.5878697781888254,-1.6003339035564341,1.4547504039233103,-1.4249643334712563,-1.570819300675948,-0.017073054008424876],[-1.5878853661588237,-1.6009457339479902,1.4597259926912132,-1.4293283839841502,-1.5708192160050092,-0.01708864322786081],[-1.5879009651894969,-1.601539770899414,1.4646813254555564,-1.4336900437782845,-1.5708191226392192,-0.017104243444313525],[-1.5879165797457135,-1.6021160488117905,1.4696165898651485,-1.438049457515501,-1.57081902160851,-0.01711985910459923],[-1.587932213937855,-1.6026745993778362,1.4745319655038887,-1.442406765387544,-1.5708189138365833,-0.017135494306032627],[-1.587947871560768,-1.6032154516852533,1.4794276244599083,-1.446762103492061,-1.570818800151431,-0.0171511528343853],[-1.5879635561292167,-1.6037386323122274,1.4843037318378685,-1.4511156041686966,-1.5708186812948641,-0.017166838198531913],[-1.5879792709102065,-1.6042441654150348,1.4891604462197912,-1.4554673962997877,-1.5708185579311262,-0.017182553662094924],[-1.5879950189525156,-1.6047320728078578,1.4939979200793199,-1.4598176055796168,-1.5708184306546762,-0.017198302272434116],[-1.5880108031137365,-1.6052023740349664,1.498816300153823,-1.4641663547557406,-1.5708182999972116,-0.017214086887234015],[-1.588026626085116,-1.605655086435487,1.5036157277783584,-1.4685137638455246,-1.5708181664340053,-0.017229910198980403],[-1.588042490414445,-1.6060902252009706,1.508396339185062,-1.4728599503306268,-1.5708180303896115,-0.01724577475754816],[-1.5880583985272387,-1.6065078034259785,1.513158265771163,-1.4772050293318797,-1.5708178922430107,-0.017261682991141024],[-1.588074352746429,-1.6069078321518973,1.5179016343384926,-1.4815491137667458,-1.5708177523322384,-0.01727763722578538],[-1.5880903553107748,-1.6072903204041316,1.522626567307,-1.4858923144912697,-1.5708176109585519,-0.01729363970358282],[-1.588106408392179,-1.6076552752227984,1.5273331829044823,-1.4902347404282135,-1.570817468390181,-0.017309692599903302],[-1.5881225141121107,-1.6080027016869913,1.5320215953344722,-1.4945764986829222,-1.5708173248656954,-0.01732579803969816],[-1.588138674557297,-1.6083326029326073,1.5366919149239395,-1.4989176946482334,-1.5708171805970408,-0.01734195811312007],[-1.5881548917948694,-1.6086449801636693,1.541344248252214,-1.5032584320996605,-1.5708170357722588,-0.017358174890596195],[-1.5881711678871302,-1.6089398326569813,1.5459786982622974,-1.5075988132818918,-1.5708168905579383,-0.01737445043754988],[-1.588187504906118,-1.609217157759868,1.550595364355486,-1.5119389389875677,-1.570816745101413,-0.017390786828922974],[-1.58820390494815,-1.6094769508806381,1.5551943424700143,-1.5162789086291972,-1.5708165995327394,-0.017407186163685497],[-1.5882203701485287,-1.6097192054712792,1.559775725144157,-1.520618820304956,-1.5708164539664673,-0.017423650579518876],[-1.5882369026966143,-1.6099439130017594,1.5643396015640387,-1.5249587708590824,-1.5708163085032336,-0.017440182267862786],[-1.5882535048514794,-1.6101510629251192,1.5688860575960824,-1.5292988559374614,-1.5708161632311917,-0.01745678348955539],[-1.5882701789583922,-1.6103406426323543,1.5734151758038046,-1.5336391700389829,-1.5708160182272886,-0.017473456591296052],[-1.588286927466393,-1.6105126373958225,1.5779270354483295,-1.5379798065631876,-1.570815873558417,-0.017490204023212066],[-1.5883037529472903,-1.6106670302996269,1.5824217124716493,-1.5423208578546748,-1.5708157292824387,-0.01750702835783215],[-1.588320658239263,-1.610803792263433,1.586899240049134,-1.546662385846435,-1.5708155854362413,-0.01752393243314719],[-1.588337646308562,-1.6109228813289995,1.5913596005717927,-1.551004414765699,-1.5708154420349103,-0.01754091921465877],[-1.5883547198293653,-1.6110242770130077,1.5958028614213877,-1.555347032116431,-1.5708152991182542,-0.017557991377083828],[-1.5883718820633617,-1.611107956106617,1.600229088300252,-1.5596903264862634,-1.570815156722169,-0.017575152181279776],[-1.5883891365428089,-1.6111738928346702,1.6046383435557452,-1.5640343857225654,-1.5708150148769549,-0.01759240515813364],[-1.5884064870883976,-1.611222058681809,1.6090306858738261,-1.5683792967964054,-1.570814873607718,-0.01760975412643854],[-1.588423937851878,-1.6112524221841082,1.6134061700963716,-1.5727251458242408,-1.570814732934868,-0.017627203235466068],[-1.588441493367633,-1.61126494867746,1.6177648470046504,-1.5770720180994833,-1.5708145928745594,-0.01764475701647577],[-1.5884591586138204,-1.6112595999929573,1.6221067630502164,-1.5814199981249921,-1.5708144534390782,-0.017662420443783928],[-1.5884769390854465,-1.611236334086378,1.6264319600203505,-1.5857691696465313,-1.5708143146371722,-0.017680199007728936],[-1.5884948408825332,-1.6111951045848603,1.6307404746218452,-1.5901196156878747,-1.5708141764743286,-0.01769809880271681],[-1.5885128708175957,-1.6111358602284234,1.6350323379617309,-1.5944714185885434,-1.5708140389529928,-0.017716126634538094],[-1.5885310365480596,-1.6110585441763445,1.6393075748961505,-1.5988246600453937,-1.5708139020727367,-0.01773429015259303],[-1.5885493467412948,-1.6109630931377061,1.6435662032082479,-1.6031794211596837,-1.570813765830361,-0.01775259801466002],[-1.588567811282849,-1.6108494362700039,1.6478082325610495,-1.6075357824918226,-1.5708136302199343,-0.017771060094801994],[-1.5885864415427686,-1.6107174937671653,1.6520336631495565,-1.611893824126819,-1.570813495232748,-0.017789687749257717],[-1.5886052507213098,-1.61056717502473,1.6562424839438206,-1.6162536257547302,-1.570813360857175,-0.017808494161570338],[-1.5886242543051845,-1.6103983762186056,1.6604346703652284,-1.6206152667722857,-1.5708132270783965,-0.01782749479806303],[-1.588643470680961,-1.6102109770535442,1.6646101811607368,-1.6249788264149045,-1.5708130938779572,-0.01784670802017792],[-1.588662921977259,-1.6100048363081656,1.6687689541149457,-1.6293443839330748,-1.5708129612330766,-0.017866155925178987],[-1.5886826352491865,-1.609779785588453,1.6729109000324118,-1.6337120188351095,-1.5708128291156014,-0.01788586552845531],[-1.5887026441910168,-1.6095356203308528,1.677035894064583,-1.638081811231997,-1.5708126974904177,-0.017905870473047834],[-1.588709579295057,-1.6093467909444656,1.6780922868518369,-1.6393421839003817,-1.5708114698072149,-0.01791283227095109],[-1.5887111941068088,-1.6092062673665728,1.6779750202974293,-1.6393848640736441,-1.5708099462648637,-0.017914484130347613],[-1.5887126352882444,-1.6090917834082161,1.677881101955156,-1.6394229230120352,-1.5708085868659114,-0.017915959409499034],[-1.588713923822727,-1.60899937508315,1.677806763869579,-1.6394567474153947,-1.570807369247992,-0.017917279044640123],[-1.5887150772914942,-1.6089249432155226,1.6777481786679707,-1.6394867908174025,-1.5708062773666391,-0.017918460850728905],[-1.5887161109694632,-1.6088650968134086,1.6777022143062577,-1.639513472469898,-1.570805297394189,-0.01791952033708385],[-1.588717038206423,-1.6088170717097319,1.677666344540008,-1.6395371728017822,-1.570804417183597,-0.017920471073452578],[-1.588717870704665,-1.608778618523498,1.6776385347499538,-1.6395582335633034,-1.5708036260246883,-0.017921324965985905],[-1.5887186187496216,-1.6087479079076732,1.6776171470858274,-1.6395769596065812,-1.570802914452495,-0.017922092487902285],[-1.5887192914036699,-1.608723452948269,1.6776008638611735,-1.639593621496219,-1.570802274085774,-0.01792278287381312],[-1.588719896669764,-1.6087040457943298,1.6775886257820374,-1.6396084585025636,-1.5708016974894978,-0.017923404284134484],[-1.5887204416301788,-1.6086887059316564,1.6775795821057236,-1.6396216816966043,-1.5708011780571662,-0.017923963944755577],[-1.5887209325646336,-1.6086766379715276,1.6775730503990796,-1.6396334769733716,-1.570800709909645,-0.017924468266150205],[-1.5887213750512346,-1.6086671972132343,1.6775684840306855,-1.6396440079028802,-1.5708002878078724,-0.017924922945329318],[-1.5887217740530755,-1.6086598615567762,1.6775654459008424,-1.639653418355494,-1.570799907077262,-0.017925333053422306],[-1.588722133992779,-1.6086542086017868,1.677563587207354,-1.6396618348797205,-1.5707995635420262,-0.017925703111167892],[-1.5887224588215134,-1.6086499092304005,1.677562642146812,-1.6396693696951563,-1.5707992533844604,-0.01792603714897828],[-1.588722752069808,-1.6086466752721622,1.67756237815196,-1.6396761203257848,-1.570798973355292,-0.017926338788493475],[-1.588723016875737,-1.6086442796099578,1.677562615954784,-1.6396821726636541,-1.5707987204859029,-0.017926611244525263],[-1.588723256067684,-1.6086425449127764,1.6775632195049826,-1.639687602882818,-1.570798492078915,-0.017926857411432212],[-1.5887234721795962,-1.6086413289672856,1.6775640823943954,-1.6396924783027462,-1.570798285715349,-0.017927079882837364],[-1.5887236674846288,-1.608640517622088,1.6775651215773448,-1.6396968584616622,-1.5707980992245507,-0.01792728098623691],[-1.5887238440238454,-1.6086400194361499,1.6775662726722615,-1.6397007960758359,-1.5707979306571545,-0.01792746281221447],[-1.5887240036313637,-1.6086397613546732,1.6775674861980694,-1.639704337877754,-1.570797778261218,-0.017927627240016238],[-1.5887241479565226,-1.6086396851925422,1.6775687245387503,-1.6397075253462576,-1.5707976404611448,-0.017927775960114807],[-1.5887242784834705,-1.6086397447738288,1.6775699594953721,-1.6397103953422745,-1.570797515839047,-0.017927910494146708],[-1.5887243965485096,-1.6086399036064463,1.6775711703142009,-1.6397129806624802,-1.5707974031182281,-0.01792803221258739],[-1.5887245033554778,-1.6086401329933884,1.6775723421006832,-1.6397153105217648,-1.5707973011485266,-0.01792814235042441],[-1.5887245999894204,-1.608640410499942,1.6775734645460074,-1.6397174109740158,-1.570797208893279,-0.017928242021103546],[-1.5887246874287535,-1.608640718711068,1.6775745309067414,-1.6397193052795134,-1.5707971254177164,-0.017928332228931632],[-1.5887247665561042,-1.6086410442250973,1.677575537189148,-1.6397210142260954,-1.5707970498786168,-0.01792841388014911],[-1.5887248381679904,-1.6086413768398056,1.6775764814989056,-1.6397225564103057,-1.5707969815150606,-0.017928487792804364],[-1.5887249029834645,-1.6086417088949663,1.6775773635243352,-1.6397239484838888,-1.5707969196401754,-0.01792855470558477],[-1.5887249616518484,-1.6086420347420864,1.6775781841272193,-1.6397252053702096,-1.57079686363374,-0.017928615285722677],[-1.588725014180831,-1.6086423562043763,1.6775789428341197,-1.6397263248901401,-1.570796813866621,-0.017928669580484696],[-1.5887250551859562,-1.608642780493386,1.6775797314925154,-1.639727325957686,-1.5707967866456654,-0.017928712033052668],[-1.5887250972910314,-1.6086431608980052,1.6775804506316745,-1.6397282531201205,-1.5707967488216164,-0.017928754809736075],[-1.5887251365078743,-1.608643487018409,1.6775810819273396,-1.6397290818656773,-1.5707967113099435,-0.017928794803247078],[-1.5887251716001085,-1.6086437964867697,1.6775816617766681,-1.639729827910955,-1.5707966784600045,-0.01792883045603215],[-1.588725203284801,-1.608644084492561,1.67758219228169,-1.639730504214449,-1.5707966488777536,-0.017928862561614897],[-1.5887390086898203,-1.611708575105315,1.633448255683719,-1.5927449684344193,-1.570782042144389,-0.017942640458218254],[-1.5887380593035878,-1.6118130973344014,1.6323928905596443,-1.5915840023724293,-1.570782100671662,-0.017941698656562945],[-1.5887423975565367,-1.6118816310001094,1.628828304378438,-1.5879499814117157,-1.5707821067735015,-0.017946031168406623],[-1.5887473534074072,-1.6119585829982204,1.624594655906416,-1.5836397951217052,-1.5707819909319085,-0.01795097927501544],[-1.5887474749475243,-1.612017831822474,1.6203208093298926,-1.579307311392953,-1.5707818503656805,-0.01795110461683586],[-1.5887473629010975,-1.6120594022010741,1.6160291489897902,-1.5749747028028647,-1.5707817093000842,-0.017950996594258584],[-1.5887472505637144,-1.6120832972452537,1.61172092011426,-1.5706432024865564,-1.570781568922572,-0.017950887911228],[-1.5887471496432428,-1.6120895258947496,1.6073961243677952,-1.566312803328787,-1.570781429146747,-0.017950790278774473],[-1.588747060261519,-1.6120780962669268,1.6030546924290556,-1.5619834285126144,-1.5707812898335594,-0.017950703850577468],[-1.5887469822147797,-1.6120490153786762,1.598696549492298,-1.5576549968141917,-1.5707811508545801,-0.017950628453108023],[-1.5887469152768567,-1.6120022890336136,1.5943216186981781,-1.5533274261251186,-1.5707810120924623,-0.017950563888000252],[-1.5887468592214187,-1.6119379217947485,1.5899298211938233,-1.5490006335435984,-1.5707808734397974,-0.017950509954396968],[-1.58874681382849,-1.611855916975328,1.5855210761169551,-1.544674535371814,-1.5707807347980514,-0.017950466455614333],[-1.5887467788838456,-1.6117562766243532,1.581095300565334,-1.5403490471036412,-1.5707805960765848,-0.017950433198701207],[-1.5887467541778502,-1.6116390015088409,1.5766524095566818,-1.536024083405787,-1.5707804571917727,-0.017950409993426994],[-1.588746739504405,-1.6115040910943328,1.5721923159873425,-1.5316995580990973,-1.57078031806622,-0.017950396651379978],[-1.5887467346599677,-1.6113515435235437,1.5677149305897637,-1.5273753841402546,-1.5707801786280624,-0.017950392985126767],[-1.588746739442614,-1.6111813555930503,1.563220161888185,-1.5230514736033753,-1.5707800388103383,-0.01795039880739976],[-1.5887467536511382,-1.6109935227280336,1.5587079161524382,-1.5187277376614408,-1.5707798985504278,-0.017950413930327085],[-1.5887467766542962,-1.610788069586241,1.5541781958189291,-1.51440415408462,-1.5707797578154366,-0.017950437735476187],[-1.588746808524006,-1.610565001182217,1.5496309459216822,-1.510080663068474,-1.5707796165602728,-0.01795047030489601],[-1.5887468492616936,-1.6103243082513203,1.545066066641195,-1.5057571743769471,-1.5707794747298647,-0.01795051164949864],[-1.5887468986547906,-1.610065980279853,1.5404834552619207,-1.5014335961192418,-1.570779332271206,-0.017950561565829717],[-1.5887469564794399,-1.6097900051891316,1.5358830064831823,-1.4971098353722685,-1.5707791891338132,-0.017950619838336283],[-1.588747022508518,-1.6094963693004727,1.5312646124260587,-1.4927857982238057,-1.5707790452694457,-0.017950686247441307],[-1.588747096511262,-1.6091850572933444,1.5266281625723692,-1.4884613897548733,-1.5707789006318025,-0.01795076056923341],[-1.5887471782523417,-1.6088560521607593,1.5219735436975066,-1.4841365140186118,-1.5707787551762424,-0.017950842574606673],[-1.5887472674908907,-1.6085093351615098,1.5173006397995386,-1.4798110740184638,-1.5707786088595315,-0.01795093202834844],[-1.5887473639795267,-1.608144885769025,1.5126093320245153,-1.4754849716858471,-1.5707784616396074,-0.017951028688215385],[-1.5887474674633326,-1.6077626816165447,1.507899498587615,-1.4711581078572518,-1.5707783134753672,-0.017951132303961868],[-1.5887475776788125,-1.607362698438314,1.5031710146898047,-1.4668303822507487,-1.5707781643264687,-0.01795124261634075],[-1.5887476943527923,-1.6069449100064146,1.498423752429572,-1.4625016934418686,-1.5707780141531464,-0.01795135935604922],[-1.5887478172012681,-1.6065092880628054,1.493657580709262,-1.4581719388388052,-1.5707778629160423,-0.017951482242608025],[-1.5887479459281793,-1.6060558022460862,1.4888723651354996,-1.453841014656939,-1.5707777105760434,-0.017951610983177102],[-1.5887480802241072,-1.6055844200124043,1.4840679679130593,-1.449508815892605,-1.5707775570941331,-0.01795174527127884],[-1.5887482197648695,-1.6050951065498547,1.4792442477315213,-1.4451752362961294,-1.5707774024312446,-0.017951884785424883],[-1.5887483642100009,-1.6045878246855985,1.474401059643875,-1.4408401683440546,-1.5707772465481253,-0.01795202918762411],[-1.5887485132011094,-1.604062534784815,1.4695382549361629,-1.4365035032105524,-1.5707770894052016,-0.017952178121760646],[-1.5887486663600712,-1.6035191946404492,1.4646556809870996,-1.4321651307379983,-1.57077693096245,-0.0179523312118134],[-1.588748823287053,-1.602957759352535,1.459753181116402,-1.4278249394066729,-1.5707767711792662,-0.01795248805989971],[-1.5887489835583288,-1.6023781811956692,1.4548305944203845,-1.4234828163035715,-1.5707766100143385,-0.017952648244107364],[-1.5887491467238617,-1.6017804094729493,1.4498877555931056,-1.4191386470903082,-1.570776447425516,-0.017952811316100537],[-1.588749312304607,-1.6011643903543864,1.4449244947310547,-1.4147923159701041,-1.5707762833696748,-0.01795297679843602],[-1.5887494797895036,-1.600530066697406,1.4399406371189754,-1.4104437056538315,-1.5707761178025814,-0.01795314418157011],[-1.5887496486320898,-1.599877377846606,1.4349360029939788,-1.4060926973251369,-1.5707759506787444,-0.017953312920495092],[-1.5887498182466924,-1.5992062594093506,1.4299104072845408,-1.4017391706046451,-1.570775781951262,-0.01795348243093633],[-1.5887499880041078,-1.598516643003067,1.4248636593202246,-1.3973830035132453,-1.5707756115716531,-0.017953652085052823],[-1.5887501572266947,-1.5978084559692176,1.4197955625071639,-1.3930240724345262,-1.5707754394896765,-0.017953821206542597],[-1.5887503251827633,-1.5970816210477956,1.4147059139631681,-1.3886622520764067,-1.5707752656531269,-0.01795398906504971],[-1.588750491080146,-1.5963360560047462,1.409594504104925,-1.3842974154320367,-1.570775090007611,-0.01795415486974473],[-1.5887506540587772,-1.5955716732028982,1.4044611161779865,-1.3799294337401091,-1.5707749124962929,-0.017954317761927758],[-1.588750813182103,-1.5947883791046071,1.3993055257178904,-1.3755581764447682,-1.5707747330596002,-0.017954476806448672],[-1.588750967427076,-1.5939860736912295,1.394127499927723,-1.3711835111553285,-1.5707745516348872,-0.017954630981725648],[-1.5887511156724414,-1.593164649780483,1.3889267969534878,-1.3668053036061814,-1.570774368156039,-0.017954779168049877],[-1.5887512566849422,-1.5923239922173404,1.3837031650333065,-1.3624234176173176,-1.5707741825530042,-0.01795492013381685],[-1.5887513891029783,-1.591463976906836,1.3784563414894189,-1.3580377150561633,-1.5707739947512356,-0.017955052519207905],[-1.5887515114171173,-1.5905844696472529,1.3731860515221939,-1.3536480558015662,-1.5707738046710125,-0.017955174816739503],[-1.5887516219466942,-1.5896853247084972,1.367892006752092,-1.349254297711235,-1.5707736122266132,-0.017955285347895],[-1.5887517188115023,-1.5887663830813135,1.3625739034367552,-1.34485629659436,-1.5707734173252863,-0.01795538223486558],[-1.5887517998972818,-1.5878274702957529,1.3572314202638631,-1.3404539061919303,-1.5707732198659612,-0.017955463366091214],[-1.588751862813276,-1.5868683936678774,1.3518642155819351,-1.3360469781683433,-1.5707730197376049,-0.01795552635388633],[-1.5887519048395782,-1.5858889387754505,1.3464719238745224,-1.3316353621195907,-1.570772816817099,-0.01795556848187155],[-1.588751922861175,-1.5848888648756247,1.3410541511978133,-1.3272189056058532,-1.5707726109664462,-0.017955586639125127],[-1.588751913284487,-1.5838678988421042,1.3356104691697959,-1.3227974542204395,-1.570772402029034,-0.01795557723685961],[-1.5887518719306575,-1.5828257269844328,1.3301404068902813,-1.3183708517135992,-1.5707721898245361,-0.017955536101889668],[-1.5887517938976592,-1.5817619837609742,1.3246434398299811,-1.3139389402008306,-1.5707719741417834,-0.017955458338971633],[-1.5887516733803033,-1.5806762358034565,1.3191189741505696,-1.30950156050455,-1.570771754728552,-0.017955338151115486],[-1.5887508716071495,-1.5798493323344773,1.3152141012713865,-1.3064172108544745,-1.5707722562177524,-0.017954538406829635],[-1.5887486901510017,-1.579650708044842,1.3149530824018654,-1.3063318259842047,-1.570774324259935,-0.01795236269448149],[-1.5887466739111746,-1.5794831300685996,1.3147313128974245,-1.3062565511505335,-1.570776235644481,-0.01795035193018079],[-1.5887448190215563,-1.579343708988977,1.3145452503130453,-1.306190655206802,-1.5707779948365546,-0.017948501580528815],[-1.5887431149484863,-1.5792277129952137,1.3143891497402336,-1.3061329757815576,-1.570779611451389,-0.01794680117417852],[-1.588741551590136,-1.579131095116925,1.3142580628404175,-1.3060824761071828,-1.5707810949293683,-0.017945240710189492],[-1.5887401191235093,-1.5790505061609021,1.3141478499087833,-1.3060382396698178,-1.5707824544896032,-0.017943810465564456],[-1.5887388080671718,-1.5789831848449634,1.3140550615198892,-1.305999460996403,-1.570783699050892,-0.017942501052485963],[-1.588737609343944,-1.578926854965007,1.3139768257335303,-1.3059654353356844,-1.5707848371662132,-0.017941303479347706],[-1.6265074034200333,-1.5938403722340815,1.3452351581241846,-1.3221630156912485,-1.5708899767610744,-0.05562427608680598],[-1.6277459441040987,-1.593918892259759,1.343905688811815,-1.320756042296852,-1.5708617832429523,-0.056863209301875633],[-1.6311147365194836,-1.5948034872474384,1.3443413104641015,-1.3203074314479215,-1.5708558499238632,-0.060232197004916645],[-1.634745145095421,-1.5956704277730767,1.3450115824183277,-1.32011138399601,-1.5708596363284786,-0.06386243819476625],[-1.6383769587303396,-1.596523736189923,1.345698495874655,-1.3199454445872474,-1.5708642092498277,-0.06749408946709956],[-1.642011528736825,-1.5973629163183527,1.346373285183918,-1.3197815285452137,-1.5708684547180796,-0.07112850729877232],[-1.645648276782267,-1.5981879173973546,1.3470333892661945,-1.3196171325113426,-1.5708723071835187,-0.07476511361783808],[-1.649287068784599,-1.5989987015994784,1.3476785747456186,-1.3194520580296791,-1.570875793470243,-0.07840377353126188],[-1.6529277951907753,-1.5997952351366143,1.3483088454460377,-1.3192863389469962,-1.5708789467450064,-0.08204437669673564],[-1.6565703481702496,-1.600577485060306,1.3489242256045655,-1.319120029004322,-1.5708817979350322,-0.08568681458263182],[-1.6602146209140418,-1.601345419405046,1.349524739388873,-1.318953181345963,-1.5708843751561516,-0.08933097975846038],[-1.6638605073775765,-1.6020990072356556,1.3501104096800167,-1.3187858472092457,-1.5708867039149446,-0.09297676562876814],[-1.6675079021456019,-1.602838218556532,1.350681258021774,-1.3186180759135586,-1.5708888073402658,-0.09662406628990246],[-1.671156700353169,-1.603563024237666,1.3512373046587511,-1.3184499149281408,-1.5708907063982174,-0.10027277644367874],[-1.674806797617081,-1.60427339595892,1.3517785686200703,-1.3182814099721882,-1.5708924200901448,-0.10392279132236393],[-1.6784580899742214,-1.6049693061607992,1.3523050677999782,-1.3181126051099408,-1.5708939656333392,-0.10757400662132346],[-1.6821104738263504,-1.6056507280007328,1.35281681902859,-1.3179435428345108,-1.5708953586255794,-0.1112263184388033],[-1.6857638458908342,-1.6063176353147965,1.353313838135722,-1.3177742641429995,-1.570896613194946,-0.11487962322225387],[-1.6894181031568636,-1.6069700025842033,1.3537961400087075,-1.3176048086040566,-1.570897742136154,-0.11853381772066841],[-1.693073142846758,-1.6076078049059397,1.354263738644571,-1.3174352144185124,-1.5708987570345652,-0.12218879894247157],[-1.6967288623819516,-1.6082310179670376,1.3547166471970018,-1.3172655184737059,-1.5708996683789216,-0.12584446411849662],[-1.7003851593532866,-1.6088396180220499,1.355154878018612,-1.3170957563921364,-1.5709004856638067,-0.1295007106696306],[-1.7040419314952677,-1.6094335818733367,1.3555784426988795,-1.3169259625749723,-1.570901217482716,-0.13315743617873432],[-1.7076990766639624,-1.6100128868538293,1.3559873520981454,-1.3167561702408934,-1.570901871612582,-0.13681453836648128],[-1.711356492818241,-1.6105775108119655,1.3563816163780213,-1.3165864114607118,-1.5709024550905024,-0.14047191507078244],[-1.7150140780040808,-1.6111274320985383,1.3567612450284965,-1.3164167171881538,-1.570902974283382,-0.1441294642294797],[-1.7186717303416785,-1.6116626295552197,1.357126246892049,-1.3162471172871697,-1.5709034349511142,-0.14778708386604425],[-1.7223293480151338,-1.6121830825045582,1.357476630185005,-1.3160776405560852,-1.5709038423038968,-0.151444672078],[-1.7259868292644798,-1.6126887707412618,1.3578124025163723,-1.3159083147488744,-1.5709042010542082,-0.15510212702783888],[-1.7296440723798672,-1.6131796745246048,1.3581335709043774,-1.3157391665938334,-1.570904515463933,-0.1587593469362236],[-1.7333009756977065,-1.6136557745718116,1.3584401417908682,-1.3155702218098708,-1.5709047893870833,-0.16241623007724507],[-1.7369574375985979,-1.6141170520522916,1.3587321210537795,-1.3154015051206427,-1.5709050263085191,-0.16607267477558016],[-1.7406133565068933,-1.6145634885825997,1.359009514017793,-1.3152330402667125,-1.5709052293790338,-0.16972857940535402],[-1.744268630891744,-1.614995066222027,1.3592723254633408,-1.315064850015916,-1.5709054014471446,-0.17338384239057314],[-1.7479231592694962,-1.615411767468721,1.359520559634064,-1.3148969561720776,-1.5709055450878913,-0.17703836220697072],[-1.751576840207306,-1.6158135752562532,1.3597542202428468,-1.314729379582232,-1.5709056626289215,-0.18069203738512776],[-1.7552295723278761,-1.6162004729505575,1.3599733104765168,-1.3145621401424643,-1.5709057561741142,-0.18434476651476897],[-1.758881254315189,-1.6165724443471627,1.360177832999286,-1.3143952568024857,-1.5709058276249734,-0.18799644825010567],[-1.762531784921151,-1.6169294736686692,1.360367789955029,-1.3142287475690468,-1.570905878699996,-0.19164698131612634],[-1.7661810629730537,-1.6172715455623983,1.3605431829684411,-1.3140626295082816,-1.5709059109522079,-0.19529626451574061],[-1.7698289873817696,-1.6175986450981648,1.3607040131451436,-1.313896918747052,-1.5709059257850406,-0.1989441967376971],[-1.7734754571506113,-1.6179107577661316,1.3608502810707748,-1.3137316304733728,-1.5709059244666952,-0.2025906769651777],[-1.7771203713847719,-1.6182078694746846,1.3609819868091095,-1.3135667789359753,-1.5709059081431493,-0.20623560428502205],[-1.7807636293012876,-1.618489966548301,1.3610991298992423,-1.3134023774430663,-1.5709058778499236,-0.2098788778974769],[-1.7844051302394648,-1.6187570357253633,1.3612017093518456,-1.313238438360323,-1.5709058345227316,-0.21352039712643817],[-1.7880447736717078,-1.6190090641558799,1.3612897236445265,-1.3130749731081706,-1.5709057790071128,-0.21716006143011585],[-1.7916824592146938,-1.619246039399082,1.3613631707162936,-1.312911992158369,-1.5709057120671517,-0.22079777041205723],[-1.795318086640859,-1.619467949420857,1.361422047961132,-1.3127495050299385,-1.5709056343933607,-0.22443342383249715],[-1.7989515558901248,-1.6196747825909874,1.3614663522206858,-1.3125875202844437,-1.5709055466098156,-0.2280669216199651],[-1.8025827670818448,-1.619866527680163,1.3614960797760343,-1.3124260455206518,-1.570905449280604,-0.23169816388311876],[-1.8062116205269165,-1.62004317385673,1.3615112263385512,-1.3122650873685682,-1.570905342915662,-0.2353270509227596],[-1.8098380167400259,-1.6202047106831503,1.3615117870398132,-1.3121046514828523,-1.5709052279760496,-0.2389534832439873],[-1.813461856451977,-1.6203511281121343,1.3614977564205453,-1.3119447425356268,-1.5709051048787208,-0.24257736156845033],[-1.8170830406220893,-1.6204824164824148,1.361469128418541,-1.311785364208641,-1.570904974000838,-0.24619858684666873],[-1.8207014704506062,-1.6205985665141294,1.361425896355541,-1.311626519184808,-1.5709048356836701,-0.24981706027037892],[-1.824317047391099,-1.6206995693037745,1.361368052922989,-1.3114682091390635,-1.5709046902361181,-0.25343268328487817],[-1.8279296731628256,-1.6207854163186937,1.3612955901666266,-1.3113104347285427,-1.5709045379378994,-0.257045357601332],[-1.8315392497630147,-1.6208560993910626,1.3612084994698448,-1.3111531955820306,-1.5709043790424264,-0.2606549852090119],[-1.8351456794790373,-1.620911610711329,1.3611067715357181,-1.3109964902886495,-1.5709042137794085,-0.26426146838742126],[-1.8387488649004464,-1.6209519428210637,1.3609903963676262,-1.3108403163857312,-1.5709040423572005,-0.26786470971829945],[-1.8423487089308455,-1.6209770886051704,1.360859363248364,-1.3106846703458228,-1.5709038649649243,-0.2714646120974585],[-1.8459451147995507,-1.6209870412834113,1.3607136607176216,-1.3105295475627572,-1.570903681774386,-0.27506107874641267],[-1.8495379860730239,-1.6209817944011837,1.3605532765477142,-1.3103749423367244,-1.5709034929418058,-0.27865401322378514],[-1.8531272266660346,-1.6209613418194944,1.3603781977174056,-1.3102208478582442,-1.5709032986093763,-0.28224331943645065],[-1.8567127408525173,-1.6209256777040526,1.360188410383661,-1.3100672561909528,-1.5709030989066757,-0.28582890165036756],[-1.8602944332761,-1.620874796513421,1.3599838998511629,-1.3099141582530964,-1.570902893951933,-0.28941066450109254],[-1.8638722089602417,-1.620808692986135,1.3597646505393657,-1.3097615437976073,-1.570902683853176,-0.2929885130039016],[-1.86744597331796,-1.620727362126693,1.359530645946861,-1.309609401390611,-1.5709024687092614,-0.29656235256350744],[-1.8710156321610996,-1.6206307991903321,1.359281868612811,-1.309457718388232,-1.5709022486108026,-0.3001320889833161],[-1.8745810917090826,-1.6205189996664546,1.359018300075126,-1.3093064809114892,-1.570902023641007,-0.30369762847416903],[-1.878142258597114,-1.6203919592605989,1.3587399208250868,-1.3091556738191037,-1.5709017938764245,-0.30725887766254467],[-1.881699039883757,-1.62024967387479,1.358446710258012,-1.3090052806779748,-1.5709015593876217,-0.31081574359812864],[-1.8852513430578433,-1.620092139586123,1.3581386466195675,-1.308855283731072,-1.5709013202397857,-0.3143681337607228],[-1.8887990760446356,-1.6199193526233886,1.3578157069472216,-1.3087056638624395,-1.5709010764932656,-0.31791595606640644],[-1.8923421472111677,-1.6197313093415342,1.357477867006308,-1.3085564005589854,-1.5709008282040529,-0.3214591188728821],[-1.8958804653706878,-1.6195280061937212,1.357125101220069,-1.3084074718686631,-1.5709005754242111,-0.3249975309839177],[-1.899413939786095,-1.6193094397007097,1.3567573825929684,-1.3082588543546103,-1.5709003182022583,-0.32853110165279314],[-1.9029424801722805,-1.619075606417262,1.3563746826264556,-1.3081105230447336,-1.5709000565835012,-0.33205974058464743],[-1.9064659966972277,-1.6188265028951996,1.355976971226237,-1.3079624513761698,-1.5708997906103315,-0.335583357937589],[-1.9099843999817576,-1.618562125642719,1.3555642165999842,-1.3078146111339406,-1.5708995203224834,-0.3391018643224542],[-1.9134976010977396,-1.6182824710794677,1.3551363851442038,-1.3076669723830352,-1.5708992457572541,-0.3426151708010314],[-1.9170055115645979,-1.617987535486856,1.354693441318837,-1.3075195033930185,-1.5708989669496942,-0.3461231888825874],[-1.92050804334389,-1.6176773149529382,1.3542353475078763,-1.3073721705541148,-1.570898683932763,-0.34962583051846075],[-1.9240051088317167,-1.6173518053111244,1.3537620638640224,-1.3072249382835461,-1.5708983967374563,-0.3531230080945018],[-1.9274966208486728,-1.6170110020718396,1.3532735481350617,-1.3070777689206825,-1.5708981053929045,-0.35661463442104435],[-1.9309824926269936,-1.6166549003460842,1.3527697554692029,-1.3069306226093096,-1.5708978099264415,-0.36010062272008514],[-1.934462637794507,-1.6162834947596703,1.3522506381961426,-1.3067834571650057,-1.5708975103636438,-0.3635808866092725],[-1.9379369703548996,-1.6158967793566665,1.351716145579992,-1.3066362279252526,-1.5708972067283464,-0.36705534008221163],[-1.9414054046637472,-1.615494747490297,1.3511662235394395,-1.3064888875794085,-1.570896899042619,-0.3705238974845388],[-1.9448678553996124,-1.6150773916991927,1.3506008143296144,-1.3063413859751338,-1.5708965873267207,-0.3739864734850786],[-1.9483242375294012,-1.614644703566451,1.350019856178941,-1.3061936698971297,-1.5708962715990145,-0.3774429830412585],[-1.9517744662669747,-1.6141966735584166,1.3494232828728578,-1.3060456828131586,-1.5708959518758445,-0.38089334135778896],[-1.9552184570238023,-1.6137332908393953,1.348811023274438,-1.3058973645812164,-1.5708956281713753,-0.3843374638374075],[-1.9586561253501646,-1.6132545430576681,1.3481830007696836,-1.305748651110293,-1.5708953004973796,-0.38777526602217255],[-1.96208738686505,-1.6127604160970286,1.3475391326223256,-1.3055994739653765,-1.5708949688629732,-0.39120666352347766],[-1.9655121571724372,-1.6122508937866604,1.3468793292192054,-1.305449759905018,-1.570894633274283,-0.3946315719384679],[-1.9689303517610728,-1.6117259575603105,1.3462034931824343,-1.305299430336782,-1.5708942937340376,-0.39804990674997726],[-1.97234188588404,-1.6111855860532605,1.3455115183181274,-1.305148400671955,-1.570893950241064,-0.4014615832062935],[-1.9757466744134313,-1.6106297546224055,1.3448032883630299,-1.3049965795556657,-1.5708936027896667,-0.4048665161760568],[-1.9791446316640195,-1.6100584347704165,1.3440786754790457,-1.3048438679415997,-1.570893251368864,-0.40826461997221786],[-1.9825356711779702,-1.6094715934491193,1.3433375384303006,-1.3046901579710306,-1.570892895961438,-0.41165580813709424],[-1.9859197054600795,-1.608869192209222,1.34257972035633,-1.3045353316029085,-1.570892536542755,-0.4150399931780341],[-1.9892966456494405,-1.6082511861523587,1.3418050460257025,-1.304379258923748,-1.5708921730792802,-0.41841708623962187],[-1.992666401108429,-1.6076175226256768,1.3410133184130253,-1.3042217960405615,-1.570891805526696,-0.4217869966933339],[-1.9960288789026386,-1.6069681395765747,1.3402043143828941,-1.304062782423555,-1.5708914338274937,-0.4251496316183453],[-1.99938398313484,-1.6063029634521178,1.3393777791774997,-1.3039020375118149,-1.5708910579078432,-0.4285048951366077],[-2.002731614080228,-1.6056219064782824,1.3385334192749863,-1.3037393563154906,-1.5708906776734815,-0.43185268754957246],[-2.0060716670461067,-1.6049248630788027,1.3376708929878314,-1.3035745036262083,-1.570890293004211,-0.43519290419985657],[-2.0094040308413765,-1.6042117050753804,1.3367897978607763,-1.303407206256927,-1.5708899037464104,-0.43852543394342175],[-2.0127285856803208,-1.6034822751209425,1.335889653429122,-1.3032371424256546,-1.570889509702622,-0.4418501570571126],[-2.016045200243867,-1.6027363775014722,1.3349698770686633,-1.3030639268872521,-1.570889110616726,-0.4451669423052772],[-2.01935372744647,-1.6019737648961945,1.3340297492369069,-1.3028870895371865,-1.5708887061522232,-0.44847564271448925],[-2.0201693567148524,-1.6016632607776164,1.333672340709809,-1.302838290312062,-1.5708818772503446,-0.44929715912387064],[-2.0201167283543042,-1.6015356884862886,1.3335443615172808,-1.3028354268113005,-1.570873834244212,-0.44925190138627535],[-2.02007364751778,-1.6014310151983115,1.3334389225561356,-1.3028323459977784,-1.5708667454899565,-0.44921547433540654],[-2.0200388719383326,-1.6013455831445038,1.333352511631648,-1.3028291166581492,-1.570860284666514,-0.4491866969141558],[-2.0200109250050056,-1.6012758586479197,1.3332816997329144,-1.3028258739269742,-1.570854363850386,-0.44916415848611996],[-2.0199885484412192,-1.601218943225478,1.3332236568827243,-1.3028227059681168,-1.5708489466859785,-0.4491466600427244],[-2.0199707016481887,-1.6011724733762107,1.3331760653074138,-1.302819669815479,-1.5708440007550886,-0.44913321411007645],[-2.0199565292024917,-1.601134523018188,1.3331370286590383,-1.3028168003197673,-1.5708394935117787,-0.4491230128937317],[-2.019945329879201,-1.6011035224453432,1.3331049956336543,-1.302814116528537,-1.5708353926051388,-0.44911539789351734],[-2.0087460112184683,-1.6147951706998167,1.3947571749592034,-1.3504866849996355,-1.5708279866340746,-0.43794500335519976],[-2.0092530468095084,-1.614780223813988,1.3950710978748366,-1.350821162667644,-1.570825920054517,-0.43845175123847585],[-2.009403636723384,-1.614960102907502,1.3972954015521541,-1.3528758083431693,-1.5708219321018908,-0.43860234572675816],[-2.0095456506087968,-1.6157774988337419,1.40223383220849,-1.356998552762526,-1.570821523782062,-0.4387444981302425],[-2.009703552863879,-1.6166096682773878,1.4074571048974716,-1.361389602663872,-1.5708218142433854,-0.43890250928243574],[-2.0098648369129255,-1.6174223162224568,1.412676060834704,-1.3657958562281964,-1.5708221009558927,-0.43906388238590577],[-2.010026349566592,-1.6182166210852864,1.4178744951358935,-1.370200042102636,-1.5708223394875802,-0.4392254731503842],[-2.0101878653873424,-1.618992650615954,1.4230510473609617,-1.3746007293669413,-1.5708225317499436,-0.4393870580171235],[-2.0103493692016796,-1.6197504623785766,1.4282058296759084,-1.3789979609216576,-1.5708226830304517,-0.43954862300568737],[-2.010510862928344,-1.620490108223355,1.4333390661004433,-1.3833918976579065,-1.570822798246681,-0.43971017102427157],[-2.0106723498570807,-1.6212116363088407,1.4384509797583358,-1.3877827043731668,-1.5708228817203171,-0.4398717062094326],[-2.010833833211379,-1.621915091540019,1.4435417846211671,-1.3921705410213954,-1.5708229372364721,-0.4400332325140157],[-2.0109953160125063,-1.6226005157324548,1.4486116855495648,-1.396555562486115,-1.5708229681146602,-0.4401947535896336],[-2.0111568010841046,-1.6232679477298817,1.453660878852593,-1.4009379189251518,-1.5708229772708344,-0.44035627280628026],[-2.0113182910664738,-1.6239174235196907,1.4586895528699149,-1.4053177561497507,-1.5708229672705336,-0.4405177932791414],[-2.0114797884314446,-1.6245489763401906,1.4636978885082912,-1.4096952159752145,-1.5708229403743772,-0.4406793178939352],[-2.011641295497216,-1.625162636778399,1.4686860597231475,-1.4140704365341659,-1.570822898577085,-0.44084084933053375],[-2.0118028144428335,-1.6257584328592325,1.4736542339515726,-1.4184435525571062,-1.570822843641014,-0.44100239008481956],[-2.0119643473221926,-1.6263363901264938,1.4786025725019762,-1.4228146956243282,-1.570822777125066,-0.44116394248891444],[-2.0121258960775137,-1.626896531715996,1.483531230904556,-1.4271839943923164,-1.5708227004096504,-0.44132550872991344],[-2.0122874625522282,-1.6274388784211888,1.48844035922629,-1.4315515747974026,-1.570822614718302,-0.4414870908672345],[-2.0124490485032864,-1.6279634487516483,1.493330102353886,-1.435917560239186,-1.570822521136437,-0.44164869084871317],[-2.0126106556128716,-1.628470258984775,1.4982006002477202,-1.4402820717459395,-1.570822420627667,-0.4418103105255526],[-2.0127722854995582,-1.6289593232109931,1.5030519881694568,-1.444645228123958,-1.570822314048018,-0.4419719516662484],[-2.0129339397289483,-1.6294306533727287,1.5078843968857478,-1.4490071460925875,-1.5708222021583491,-0.44213361596959205],[-2.013095619823813,-1.6298842592973821,1.5126979528501394,-1.4533679404065032,-1.570822085635223,-0.4422953050768593],[-2.0132573272738137,-1.6303201487244707,1.5174927783650205,-1.4577277239665773,-1.5708219650804376,-0.44245702058328207],[-2.0134190635448417,-1.6307383273270655,1.52226899172525,-1.4620866079205794,-1.570821841029399,-0.4426187640489189],[-2.013580830088046,-1.6311387987275798,1.527026707344854,-1.4664447017547881,-1.5708217139584932,-0.44278053700899905],[-2.013742628348609,-1.6315215645079293,1.531766035867987,-1.470802113377467,-1.570821584291581,-0.44294234098384655],[-2.0139044597743405,-1.6318866242139929,1.536487084265161,-1.4751589491950796,-1.570821452405736,-0.4431041774884768],[-2.0140663258241625,-1.63223397535426,1.5411899559155593,-1.4795153141819954,-1.5708213186363167,-0.4432660480419561],[-2.0142282279765578,-1.6325636133924561,1.5458747506760826,-1.4838713119443774,-1.5708211832814565,-0.44342795417661734],[-2.0143901677380702,-1.6328755317338703,1.5505415649375893,-1.4882270447788537,-1.5708210466060466,-0.4435898974472306],[-2.0145521466519325,-1.6331697217050107,1.5551904916686485,-1.4925826137265283,-1.5708209088452691,-0.44375187944022626],[-2.0147141663069243,-1.633446172526104,1.5598216204469113,-1.4969381186228086,-1.570820770207737,-0.4439139017830698],[-2.014876228346558,-1.6337048712758568,1.5644350374780738,-1.5012936581435044,-1.5708206308782833,-0.4440759661539109],[-2.015038334478708,-1.633945802847739,1.5690308256021703,-1.505649329847574,-1.5708204910204493,-0.44423807429161527],[-2.015200486485803,-1.6341689498969099,1.5736090642867797,-1.5100052302169147,-1.570820350778691,-0.4444002280063161],[-2.01536268623573,-1.6343742927767066,1.578169829606442,-1.514361454693481,-1.570820210280354,-0.4445624291906336],[-2.0155249356936054,-1.6345618094634147,1.582713194207391,-1.5187180977140684,-1.570820069637424,-0.44472467983172537],[-2.015687236934604,-1.6347314754677489,1.587239227256365,-1.5230752527430227,-1.5708199289480924,-0.44488698202436316],[-2.0158495921580566,-1.6348832637311934,1.591747994371955,-1.5274330123031548,-1.5708197882981483,-0.44504933798524265],[-2.0160120037030778,-1.6350171445049202,1.5962395575365012,-1.5317914680050804,-1.570819647762215,-0.4452117500688047],[-2.0161744737805014,-1.6351330692349009,1.6007139128605827,-1.536150664612677,-1.570819507325326,-0.44537422049950975],[-2.01633700436891,-1.6352309878080973,1.6051710509896606,-1.5405106430042297,-1.5708193669649024,-0.4455367512687517],[-2.0164995978455305,-1.6353108648310768,1.609611024212199,-1.5448714907889025,-1.5708192267405854,-0.445699344764894],[-2.0166622570922135,-1.6353726614633952,1.6140338820284739,-1.5492332962496336,-1.570819086708069,-0.4458620038786924],[-2.0168249852432547,-1.6354163354214981,1.6184396697688825,-1.5535961469671098,-1.5708189469151033,-0.44602473175188556],[-2.0169877857011094,-1.6354418407007554,1.6228284282178769,-1.5579601297205894,-1.5708188074018776,-0.4461875317930163],[-2.017150662172273,-1.6354491272477567,1.6272001933041902,-1.5623253305043348,-1.5708186682016398,-0.446350407713369],[-2.0173136187103897,-1.635438140571662,1.6315549957372526,-1.5666918345514695,-1.5708185293412453,-0.44651336357010185],[-2.0174766597672122,-1.635408821281306,1.6358928605699852,-1.5710597263588222,-1.570818390841617,-0.4466764038172156],[-2.0176397902532126,-1.6353611045308745,1.6402138066707428,-1.5754290897127083,-1.5708182527181167,-0.44683953336614507],[-2.0178030156102515,-1.6352949193520319,1.644517846082772,-1.5798000077162013,-1.5708181149808327,-0.4470027576583875],[-2.017966341899457,-1.6352101878436818,1.648804983242981,-1.5841725628185157,-1.5708179776347717,-0.44716608275330666],[-2.018129775908469,-1.635106824181423,1.6530752140228502,-1.5885468368473856,-1.5708178406799538,-0.4473295154352656],[-2.0182933252836115,-1.6349847333961491,1.6573285245419607,-1.5929229110455358,-1.5708177041113935,-0.4474930633456363],[-2.018456998694525,-1.6348438098535487,1.6615648896871833,-1.5973008661127057,-1.5708175679189567,-0.44765673514721827],[-2.018620806041654,-1.6346839353409934,1.6657842712457773,-1.6016807822551933,-1.57081743208705,-0.44782054073142386],[-2.018784758721088,-1.63450497663169,1.6699866155246712,-1.6060627392456217,-1.5708172965941252,-0.44798449148272124],[-2.0189488699674563,-1.6343067823417203,1.6741718502748644,-1.6104468164967012,-1.5708171614119126,-0.4481486006209885],[-2.019113155304941,-1.6340891788136123,1.678339880659328,-1.6148330931543677,-1.5708170265043193,-0.44831288365177935],[-2.0192776331511175,-1.6338519646330925,1.682490583877879,-1.6192216482181307,-1.570816891825843,-0.44847735896914875],[-2.0194423256418115,-1.6335949031835975,1.686623801863801,-1.6236125607003533,-1.5708167573192977,-0.448642048679073],[-2.0196072597839763,-1.6333177123116387,1.6907393311408274,-1.628005909842405,-1.5708166229125426,-0.44880697975027406],[-2.019772469110176,-1.6330200496130882,1.6948369083750017,-1.6324017754160915,-1.5708164885136708,-0.44897218566568925],[-2.0198966312116093,-1.6327413778369513,1.6978522901407436,-1.635701461615735,-1.5708158795021088,-0.44909643915160063],[-2.0198984607253094,-1.6325862408321086,1.697724819085196,-1.6357490796151621,-1.5708139525041827,-0.44909863348225243],[-2.019900086662075,-1.6324582192217474,1.6976212216656095,-1.635791534624935,-1.5708122893297263,-0.44910059167046285],[-2.019901561608101,-1.632354746918143,1.6975390317340826,-1.6358290517356298,-1.5708107783585858,-0.4491023673949149],[-2.0199029022664767,-1.6322713531781907,1.6974741491892094,-1.6358621910935451,-1.5708094021735375,-0.44910398026141546],[-2.019904120291644,-1.6322042621989714,1.6974231471617012,-1.635891467463774,-1.570808150674863,-0.44910544461903557],[-2.019905226234563,-1.632150389793324,1.6973832558987016,-1.6359173425324038,-1.5708070143382273,-0.4491067734705664],[-2.0199062298542896,-1.6321072248367665,1.6973522434678112,-1.635940226635479,-1.570805983925571,-0.4491079787995231],[-2.0199071401708615,-1.6320727243505342,1.6973283124068486,-1.6359604823027076,-1.5708050505838653,-0.44910907164226993],[-2.0199079655020267,-1.6320452272079877,1.6973100159566146,-1.6359784284692422,-1.5708042059282492,-0.44911006214311316],[-2.0199087135004117,-1.6320233836006186,1.6972961904803237,-1.6359943448817582,-1.5708034420918524,-0.44911095960851277],[-2.0199093911917325,-1.6320060974295931,1.6972859009211978,-1.6360084764230531,-1.5708027517494714,-0.4491117725610465],[-2.0199100050135774,-1.6319924792695613,1.697278396754238,-1.6360210371949087,-1.5708021281220264,-0.44911250879269343],[-2.019910560854226,-1.631981807976697,1.6972730763947,-1.6360322142746409,-1.5708015649672904,-0.4491131754169396],[-2.0199110640909725,-1.6319734993627653,1.6972694584289196,-1.6360421711096498,-1.570801056561097,-0.44911377891925525],[-2.019911519627522,-1.631967080643614,1.6972671583541994,-1.6360510505452233,-1.5708005976722639,-0.44911432520556915],[-2.0199119319300918,-1.6319621696052033,1.6972658697705691,-1.6360589774994088,-1.5708001835336562,-0.4491148196484514],[-2.0199123050619487,-1.6319584576225734,1.6972653491723566,-1.6360660613093234,-1.570799809811209,-0.4491152671308066],[-2.019912642716186,-1.6319556958246109,1.6972654036519232,-1.6360723977783533,-1.5707994725722303,-0.4491156720869537],[-2.019912948246618,-1.631953683826447,1.6972658809601389,-1.6360780709554188,-1.570799168253946,-0.44911603854104587],[-2.019913224696721,-1.6319522605568957,1.697266661474546,-1.6360831546770274,-1.570798893632945,-0.44911637014282263],[-2.019913474826618,-1.631951296794758,1.6972676517119731,-1.6360877139011853,-1.5707986457959775,-0.4491166702007496],[-2.0199137011381096,-1.6319506890985347,1.6972687790915704,-1.6360918058598626,-1.570798422112386,-0.44911694171262256],[-2.0199139058978144,-1.6319503548719332,1.697269987710185,-1.6360954810540869,-1.570798220208323,-0.44911718739373657],[-2.0199140911584887,-1.631950228354862,1.6972712349372223,-1.6360987841130639,-1.5707980379428301,-0.4491174097027528],[-2.0199142587786056,-1.631950257368263,1.6972724886727335,-1.6361017545361085,-1.5707978733857773,-0.449117610865384],[-2.0199144104402964,-1.631950400672748,1.6972737251421026,-1.6361044273338023,-1.5707977247976195,-0.4491177928960452],[-2.0199145476657536,-1.63195062582681,1.6972749271247163,-1.6361068335825635,-1.5707975906109017,-0.449117957617609],[-2.0199146718322014,-1.631950907451479,1.6972760825334503,-1.6361090009049106,-1.5707974694134093,-0.4491181066793957],[-2.019914784185529,-1.6319512258255007,1.697277183277563,-1.6361109538859224,-1.5707973599328724,-0.449118241573547],[-2.0199148858526987,-1.631951565749169,1.6972782243543938,-1.6361127144349412,-1.5707972610231014,-0.4491183636499005],[-2.0199149778530234,-1.631951915626421,1.6972792031256123,-1.636114302100233,-1.5707971716514488,-0.4491184741294982],[-2.019915061108397,-1.6319522667241506,1.6972801187421995,-1.6361157343432011,-1.5707970908874875,-0.44911857411683315],[-2.019915136452582,-1.6319526125753212,1.6972809716891253,-1.6361170267777934,-1.5707970178928,-0.44911866461096017],[-2.01991520463962,-1.6319529484987034,1.697281763426269,-1.6361181933799023,-1.5707969519117755,-0.4491187465155534],[-2.019915266351458,-1.6319532712131029,1.6972824961065658,-1.6361192466708607,-1.570796892263327,-0.44911882064802133],[-2.0199153222048443,-1.6319535785281065,1.6972831723560526,-1.6361201978785544,-1.5707968383334352,-0.44911888774774855],[-2.019915372757576,-1.6319538690967208,1.6972837951033874,-1.6361210570791245,-1.5707967895684465,-0.4491189484835614],[-2.0199154185141484,-1.6319541422180293,1.6972843674488471,-1.6361218333218392,-1.5707967454690406,-0.44911900346047906],[-2.0199154599308624,-1.6319543976802258,1.6972848925647281,-1.6361225347393233,-1.5707967055848158,-0.44911905322581885],[-2.0199154974204476,-1.631954635636196,1.6972853736206468,-1.6361231686450337,-1.5707966695094129,-0.449119098274716],[-2.0199155313562382,-1.6319548565053104,1.6972858137285112,-1.6361237416195924,-1.5707966368761401,-0.44911913905512035],[-2.0199155620759477,-1.6319550608962674,1.6972862159029611,-1.6361242595873788,-1.5707966073540363,-0.449119175972303],[-2.0199155900128285,-1.6319552496401049,1.6972865828707357,-1.636124727419437,-1.5707965803501434,-0.4491192095085039],[-2.0199156158766436,-1.6319554244881485,1.6972869178465018,-1.6361251496349165,-1.5707965547621505,-0.4491192405316641],[-2.019915639338223,-1.6319555858810766,1.6972872231273695,-1.6361255308342204,-1.5707965313564627,-0.4491192684957859],[-2.019915660657391,-1.6319557345287399,1.6972875014052935,-1.6361258756892054,-1.5707965100129082,-0.4491192938660732],[-2.0199156791288297,-1.6319558687417963,1.6972877547387382,-1.6361261900570263,-1.5707964924856337,-0.44911931612119366],[-2.019915695842397,-1.631955990385454,1.6972879838244597,-1.6361264731610965,-1.570796476721902,-0.44911933626514017],[-2.019915710988887,-1.6319561016133233,1.6972881921007223,-1.6361267291299089,-1.5707964624322404,-0.44911935451640295],[-2.019915724663813,-1.631956203541587,1.6972883820996119,-1.6361269619016945,-1.5707964495313809,-0.44911937100580407],[-2.0199157369862455,-1.631956300304505,1.6972885616968831,-1.6361271840407499,-1.5707964377316281,-0.4491193858751958],[-2.0199157481746304,-1.6319563924504243,1.6972887306101476,-1.6361273933481733,-1.5707964270172685,-0.4491193993717545],[-2.019915758279731,-1.6319564764899555,1.6972888838942841,-1.6361275830512418,-1.5707964173669993,-0.4491194115642732],[-2.019915767419414,-1.631956552776273,1.6972890225862391,-1.63612775456224,-1.570796408663,-0.44911942259268955],[-2.0199157756878656,-1.6319566219825965,1.697289148048422,-1.6361279096087205,-1.5707964008090223,-0.44911943257029163],[-2.0199157831688965,-1.6319566847502578,1.6972892615436495,-1.6361280497815294,-1.5707963937197056,-0.4491194415980666],[-2.019915789938061,-1.6319567416668626,1.6972893642160798,-1.6361281765181692,-1.5707963873186872,-0.44911944976708074],[-2.01991579606356,-1.6319567932686152,1.697289457100354,-1.6361282911157098,-1.5707963815375519,-0.4491194571595482],[-2.019915801606983,-1.6319568400442719,1.6972895411318847,-1.636128394744513,-1.5707963763149513,-0.4491194638497235],[-2.019915806623957,-1.6319568824389894,1.6972896171563534,-1.6361284884607918,-1.570796371595832,-0.44911946990468227],[-2.0199158111647404,-1.631956920857957,1.6972896859383442,-1.6361285732179307,-1.5707963673307506,-0.4491194753850325],[-2.0199158152747487,-1.631956955669779,1.6972897481691516,-1.6361286498766718,-1.5707963634752744,-0.44911948034554616],[-2.019915818978675,-1.631956987743267,1.6972898052405314,-1.6361287205826,-1.5707963599976797,-0.4491194848194916],[-2.019915822336417,-1.6319570171140265,1.6972898572173307,-1.6361287849043975,-1.5707963568517636,-0.4491194888743098],[-2.019915825376234,-1.631957043622162,1.6972899040944438,-1.6361288428360798,-1.570796354007131,-0.44911949254512185],[-2.0199158281296823,-1.631957067511274,1.6972899463429478,-1.6361288949846193,-1.5707963514336416,-0.449119495869778],[-2.0199158306239284,-1.6319570890399462,1.6972899844277465,-1.6361289419413625,-1.5707963491049246,-0.4491194988811263],[-2.0199158328834033,-1.6319571084451974,1.6972900187695759,-1.6361289842393905,-1.5707963469973394,-0.449119501608735],[-2.019915834930204,-1.6319571259406962,1.6972900497457026,-1.6361290223553366,-1.5707963450896203,-0.4491195040793479],[-2.019915836784336,-1.6319571417184566,1.6972900776940827,-1.6361290567150504,-1.5707963433626153,-0.4491195063171738],[-2.0199158384639175,-1.6319571559508466,1.6972901029175127,-1.6361290876991428,-1.570796341799057,-0.4491195083441328],[-2.0199158399853596,-1.6319571687925278,1.6972901256874116,-1.6361291156479971,-1.5707963403833662,-0.4491195101800783],[-2.0199158413635296,-1.631957180382263,1.6972901462472088,-1.6361291408662393,-1.5707963391014776,-0.4491195118429928],[-2.0199158426118995,-1.631957190844569,1.6972901648153684,-1.6361291636266964,-1.5707963379406837,-0.4491195133491647],[-2.019915843742675,-1.631957200291211,1.6972901815880732,-1.6361291841739036,-1.5707963368895006,-0.44911951471335243],[-2.0199158447669157,-1.6319572088225482,1.6972901967416067,-1.6361292027272047,-1.5707963359375452,-0.44911951594892385],[-2.0199158456946438,-1.6319572165287413,1.697290210434468,-1.6361292194834827,-1.5707963350754262,-0.4491195170679908],[-2.01991584653494,-1.6319572234908246,1.6972902228092481,-1.6361292346195848,-1.570796334294648,-0.4491195180815266],[-2.019928371137551,-1.634895142490291,1.6541455204353903,-1.5902513741939424,-1.5707826167432846,-0.44913201405201264],[-2.0199287222665974,-1.6349959438880644,1.652992251204203,-1.588996336880007,-1.5707826679848254,-0.44913236681187174],[-2.0199337043179897,-1.6350517440234837,1.6493230227580806,-1.5852708022292643,-1.5707826417845103,-0.44913733927384153],[-2.0199377165336805,-1.6351113324551647,1.645042413852891,-1.5809313185861167,-1.5707825008511425,-0.4491413455899236],[-2.0199374751986507,-1.6351533161883405,1.64072672159873,-1.576574491116423,-1.5707823411235957,-0.44914110861877443],[-2.0199370754618102,-1.6351775214248134,1.636393868348293,-1.5722182641972353,-1.5707821832149367,-0.44914071327408056],[-2.0199366899205913,-1.6351839645789152,1.6320448273317427,-1.567863590141067,-1.570782027780336,-0.4491403317079416],[-2.0199363267121844,-1.635172665334617,1.6276795818924352,-1.5635104350820945,-1.5707818745372517,-0.44913997207061873],[-2.0199359850589826,-1.6351436421127121,1.6232980635104457,-1.5591587146683346,-1.5707817231869114,-0.4491396336194744],[-2.01993566382082,-1.6350969116676033,1.618900199368946,-1.5548083416966465,-1.5707815734586497,-0.4491393152478294],[-2.0199353619276104,-1.6350324891048533,1.6144859148152348,-1.5504592285608512,-1.570781425108786,-0.4491390159164978],[-2.019935078393534,-1.634950387907511,1.6100551334279785,-1.5461112873129768,-1.570781277917583,-0.4491387346680521],[-2.0199348123097445,-1.6348506199583668,1.6056077769622574,-1.5417644296052555,-1.570781131686479,-0.44913847061966244],[-2.01993456283664,-1.6347331955576205,1.601143765291692,-1.5374185666319826,-1.5707809862356539,-0.44913822295553213],[-2.019934329196756,-1.6345981234360847,1.5966630163530586,-1.5330736090766333,-1.5707808414018967,-0.44913799091993234],[-2.0199341106682693,-1.6344454107641375,1.5921654460929466,-1.5287294670637666,-1.5707806970367273,-0.44913777381086045],[-2.019933906579057,-1.6342750631565843,1.5876509684157434,-1.524386050114976,-1.5707805530047383,-0.4491375709742456],[-2.0199337158033983,-1.6340871209921979,1.583119610998285,-1.5200433462836058,-1.5707804092118498,-0.44913738130152603],[-2.019933538208593,-1.6338815920108762,1.5785713040947518,-1.515701279073665,-1.5707802655485508,-0.4491372046736927],[-2.0199333733372584,-1.6336584768936024,1.5740059558683406,-1.5113597569491906,-1.5707801219076647,-0.4491370406466893],[-2.0199332206556355,-1.6334177748404701,1.5694234719882587,-1.5070186872846738,-1.5707799781900262,-0.44913688869910245],[-2.0199330796538675,-1.6331594834320324,1.564823755794066,-1.5026779766729779,-1.5707798343039585,-0.44913674833228256],[-2.0199329498464103,-1.6328835986131562,1.5602067082715065,-1.498337530924442,-1.5707796901644513,-0.4491366190708424],[-2.019932830768852,-1.6325901146716288,1.5555722279967772,-1.4939972550391838,-1.570779545692404,-0.4491365004595662],[-2.0199327219747087,-1.6322790242132197,1.550920211077513,-1.4896570531790494,-1.5707794008139484,-0.4491363920603001],[-2.0199326230324277,-1.6319503181330608,1.546250551091311,-1.4853168286402105,-1.5707792554598379,-0.4491362934490331],[-2.019932533522564,-1.6316039855832827,1.5415631390215851,-1.4809764838263415,-1.5707791095648989,-0.4491362042131461],[-2.0199324530351213,-1.6312400139367902,1.5368578631904377,-1.476635920222206,-1.5707789630675344,-0.44913612394882213],[-2.019932381167012,-1.6308583887470303,1.532134609188214,-1.4722950383675313,-1.5707788159092786,-0.4491360522585725],[-2.0199323175196295,-1.6304590937035564,1.5273932597993884,-1.4679537378310408,-1.57077866803439,-0.4491359887488588],[-2.0199322616965047,-1.6300421105831522,1.5226336949244015,-1.46361191718455,-1.5707785193894819,-0.4491359330278071],[-2.0199322133010162,-1.6296074191962144,1.517855791497034,-1.4592694739770375,-1.5707783699231876,-0.44913588470296484],[-2.019932171934137,-1.629154997328037,1.5130594233968244,-1.4549263047085927,-1.5707782195858535,-0.4491358433790912],[-2.0199321371921997,-1.6286848206745757,1.5082444613560368,-1.4505823048041944,-1.5707780683292545,-0.4491358086559583],[-2.019932108664645,-1.6281968627721755,1.5034107728605575,-1.4462373685872396,-1.5707779161063355,-0.4491357801261443],[-2.0199320859317336,-1.6276910949206684,1.4985582220440583,-1.4418913892527763,-1.5707777628709694,-0.4491357573727684],[-2.019932068562204,-1.627167486099132,1.4936866695746542,-1.437544258840406,-1.570777608577731,-0.44913573996718836],[-2.0199320561108354,-1.6266260028734678,1.4887959725331472,-1.433195868206803,-1.5707774531816874,-0.44913572746658387],[-2.0199320481158867,-1.6260666092948108,1.4838859842818373,-1.4288461069978313,-1.5707772966381957,-0.44913571941142594],[-2.0199320440963926,-1.625489266787615,1.4789565543227046,-1.4244948636202606,-1.570777138902713,-0.44913571532279484],[-2.0199320435492614,-1.624893934026013,1.4740075281435305,-1.4201420252130352,-1.5707769799306124,-0.4491357146995006],[-2.0199320459461427,-1.624280566796811,1.469038747050321,-1.4157874776181378,-1.5707768196770024,-0.44913571701497024],[-2.0199320507300103,-1.6236491178471701,1.4640500479840721,-1.411431105351048,-1.5707766580965508,-0.44913572171385086],[-2.019932057311414,-1.6229995367146015,1.4590412633195409,-1.407072791570834,-1.5707764951433048,-0.44913572820827924],[-2.019932065064322,-1.6223317695364687,1.4540122206432353,-1.4027124180499366,-1.5707763307705152,-0.44913573587374217],[-2.0199320733214865,-1.6216457588355622,1.4489627425072735,-1.3983498651437216,-1.5707761649304464,-0.4491357440444577],[-2.0199320813692356,-1.6209414432776055,1.4438926461550472,-1.3939850117599117,-1.570775997574186,-0.4491357520081848],[-2.019932088441584,-1.6202187573955975,1.438801743213732,-1.389617735328053,-1.5707758286514368,-0.4491357590003526],[-2.0199320937135328,-1.6194776312747399,1.4336898393475785,-1.3852479117692125,-1.5707756581102965,-0.44913576419737233],[-2.0199320962933838,-1.6187179901901907,1.4285567338644583,-1.3808754154661727,-1.5707754858970118,-0.44913576670897354],[-2.01993209521389,-1.6179397541879599,1.423402219266301,-1.3765001192344768,-1.5707753119557089,-0.44913576556937074],[-2.019932089421988,-1.6171428375967505,1.4182260807316702,-1.3721218942947913,-1.570775136228085,-0.44913575972701847],[-2.019932077766798,-1.6163271484552688,1.4130280955155492,-1.3677406102471898,-1.5707749586530595,-0.44913574803263123],[-2.0199320589855323,-1.6154925878351538,1.4078080322472553,-1.3633561350481722,-1.5707747791663618,-0.44913572922511685],[-2.0199320316868077,-1.614639049033852,1.4025656501018284,-1.3589683349915194,-1.5707745977000522,-0.4491357019149185],[-2.0199319943307583,-1.6137664166038261,1.3973006978126377,-1.354577074694414,-1.570774414181944,-0.4491356645641603],[-2.0199319452051436,-1.612874565173604,1.3920129124825844,-1.3501822170908386,-1.5707742285349056,-0.4491356154627945],[-2.019931882396421,-1.6119633580009953,1.3867020181367813,-1.3457836234349514,-1.5707740406760033,-0.4491355526997208],[-2.0199318037544143,-1.6110326451773358,1.3813677239391184,-1.341381153318217,-1.5707738505154336,-0.4491354741275116],[-2.019931706848759,-1.6100822613706833,1.3760097219656346,-1.3369746647055913,-1.5707736579551708,-0.44913537731892966],[-2.019931588914684,-1.609112022950591,1.3706276843845164,-1.332564013998401,-1.5707734628872343,-0.4491352595127971],[-2.0199314467847733,-1.6081217242691745,1.365221259827835,-1.328149056134919,-1.5707732651914241,-0.44913511754586727],[-2.019931276802102,-1.6071111327693273,1.3597900686414437,-1.3237296447451516,-1.5707730647323124,-0.4491349477661087],[-2.0199310747082353,-1.6060799824275915,1.3543336965441106,-1.3193056323847854,-1.570772861355164,-0.4491347459208924],[-2.0199308354968863,-1.6050279647751682,1.3488516859762785,-1.3148768708873777,-1.5707726548802856,-0.4491345070108935],[-2.0199305532198752,-1.6039547162992267,1.3433435239999763,-1.3104432118976168,-1.5707724450949927,-0.4491342250963905],[-2.0199302207259078,-1.6028598002609202,1.33780862488523,-1.3060045076903364,-1.5707722317418709,-0.4491338930365007],[-2.019928160043163,-1.6025765607035272,1.3370935985040482,-1.3055515952019927,-1.5707740988349281,-0.4491318372137779],[-2.0199260853371777,-1.6023986607576781,1.3368627711338485,-1.30547713332145,-1.5707760256365353,-0.4491297678360904],[-2.0199241755404294,-1.6022505640697249,1.3366689725855092,-1.3054117646545562,-1.5707777999277603,-0.4491278625263252],[-2.0199224201545567,-1.6021275002676998,1.3365065215018468,-1.3053544270666764,-1.5707794311875025,-0.4491261107444679],[-2.01992080900258,-1.6020251422264455,1.3363702455100972,-1.3053041363121318,-1.5707809287307497,-0.4491245024061374],[-2.019919332168379,-1.6019398949351165,1.336255800866013,-1.3052600148593245,-1.5707823016789593,-0.44912302769605167],[-2.0199179800462095,-1.601868795395458,1.3361595675036664,-1.305221285770026,-1.5707835588880066,-0.4491216771041859],[-2.019916743411143,-1.601809403081814,1.3360785322686328,-1.3051872650489513,-1.5707847088769433,-0.4491204414935553],[-2.0199156134707814,-1.6017597072502252,1.3360101881252349,-1.3051573531740996,-1.5707857597762893,-0.4491193121511881],[-2.019914581898374,-1.6017180505389963,1.3359524494839747,-1.305131026435984,-1.5707867192943334,-0.4491182808211363],[-2.0199136408507874,-1.6016830661849544,1.3359035813915066,-1.3051078285048345,-1.570787594698045,-0.44911733972270795],[-2.019912782974568,-1.6016536264408268,1.3358621404172268,-1.3050873624824562,-1.5707883928055226,-0.44911648155700323],[-2.019912001402821,-1.601628800192597,1.3358269253698616,-1.3050692835807713,-1.5707891199873731,-0.4491156995043953],[-2.0199112897451363,-1.6016078181333206,1.3357969362577806,-1.30505329249055,-1.5707897821748862,-0.4491149872151144],[-2.019910642072392,-1.6015900441442348,1.3357713401501632,-1.3050391294516384,-1.570790384873231,-0.4491143387947337],[-2.019910052897913,-1.6015749517751978,1.3357494428051517,-1.305026569002695,-1.570790933178268,-0.4491137487859825],[-2.0199095171561643,-1.6015621049143334,1.335730665109897,-1.3050154153684281,-1.5707914317958147,-0.4491132121480816],[-2.019909030179928,-1.6015511418991297,1.3357145235298535,-1.305005498431579,-1.570791885062463,-0.4491127242344964],[-2.0199085876767016,-1.6015417624545587,1.3357006138941763,-1.3049966702323588,-1.5707922969672246,-0.4491122807698751],[-2.019908185704879,-1.6015337169534196,1.3356885979538655,-1.304988801937678,-1.570792671173452,-0.44911187782671586],[-2.0199078206501704,-1.6015267975841347,1.3356781922420429,-1.3049817812246904,-1.570793011040602,-0.44911151180221276],[-2.019907489202574,-1.6015208310853084,1.3356691588438654,-1.3049755100268976,-1.5707933196455364,-0.44911117939561224],[-2.019907188334134,-1.6015156727671822,1.3356612977492766,-1.3049699025955934,-1.5707935998031122,-0.4491108775863067],[-2.019906915277666,-1.6015112015901651,1.33565444051685,-1.3049648838342311,-1.5707938540859085,-0.44911060361285254],[-2.019906667506542,-1.6015073161117188,1.335648445023045,-1.3049603878680915,-1.5707940848429787,-0.44911035495300766],[-2.0199064427156093,-1.6015039311466424,1.3356431911096756,-1.304956356816222,-1.570794294217565,-0.4491101293048721],[-2.0199062388032702,-1.6015009750135476,1.335638576974432,-1.304952739736826,-1.570794484163737,-0.449109924569155],[-2.0199060538547253,-1.6014983872631112,1.3356345161760248,-1.3049494917211695,-1.5707946564619575,-0.44910973883258215],[-2.0199058861263643,-1.601496116802375,1.3356309351476134,-1.304946573114468,-1.5707948127335856,-0.44910957035242277],[-2.019905734031275,-1.601494120344736,1.3356277711306712,-1.3049439488453012,-1.5707949544543418,-0.44910941754211725],[-2.0199055961258225,-1.6014923611278722,1.335624970456606,-1.3049415878477182,-1.5707950829667776,-0.44910927895795566],[-2.0199054710972555,-1.6014908078521801,1.3356224871161366,-1.3049394625625377,-1.570795199491794,-0.4491091532867712],[-2.019905357752284,-1.601489433800801,1.3356202815668494,-1.3049375485063162,-1.5707953051392556,-0.4491090393345846],[-2.019905255006568,-1.6014882161092596,1.335618319737993,-1.30493582389819,-1.5707954009177583,-0.4491089360161576],[-2.019905161875069,-1.6014871351584656,1.3356165721987092,-1.304934269336232,-1.5707954877435983,-0.4491088423453906],[-2.019905077463198,-1.6014861740694997,1.3356150134617992,-1.3049328675162581,-1.570795566448995,-0.4491087574265133],[-2.019905000958706,-1.6014853182824509,1.3356136213999341,-1.304931602987019,-1.570795637789626,-0.4491086804460144],[-2.01990493162427,-1.6014845552047472,1.335612376755327,-1.3049304619366924,-1.5707957024515187,-0.44910861066524793],[-2.0199048687907144,-1.6014838739169546,1.3356112627270553,-1.3049294320062774,-1.5707957610573482,-0.44910854741368494],[-2.019904811850818,-1.6014832649262172,1.3356102646230883,-1.304928502126201,-1.57079581417219,-0.44910849008274023],[-2.019904760253672,-1.6014827199591841,1.3356093695662261,-1.304927662372969,-1.5707958623087643,-0.4491084381201392],[-2.019904713499527,-1.6014822317877369,1.335608566245045,-1.3049269038431597,-1.5707959059322236,-0.44910839102478517],[-2.019904671135103,-1.601481794081998,1.335607844702487,-1.30492621854246,-1.5707959454645088,-0.4491083483420747],[-2.0199046327493195,-1.601481401286059,1.3356071961559541,-1.3049255992877586,-1.5707959812883205,-0.4491083096596369],[-2.0199045979694046,-1.6014810485126691,1.3356066128438633,-1.3049250396206344,-1.5707960137507295,-0.4491082746034473],[-2.019904566457359,-1.6014807314537705,1.335606087894427,-1.3049245337307587,-1.5707960431664671,-0.4491082428343003],[-2.0199045379067404,-1.6014804463042915,1.335605615213138,-1.3049240763879737,-1.5707960698209107,-0.4491082140445903],[-2.0199045120397385,-1.6014801896970885,1.3356051893860956,-1.304923662881991,-1.5707960939728025,-0.44910818795539437],[-2.0199044886045177,-1.60147995864723,1.3356048055966547,-1.3049232889687417,-1.5707961158567192,-0.4491081643138138],[-2.019904467372806,-1.6014797505041858,1.3356044595534555,-1.3049229508226166,-1.5707961356853144,-0.4491081428905635],[-2.0199044481376993,-1.6014795629106615,1.3356041474280467,-1.3049226449938658,-1.5707961536513562,-0.4491081234777769],[-2.0199044307116742,-1.6014793937670835,1.3356038658007472,-1.3049223683705704,-1.5707961699295783,-0.44910810588701794],[-2.0199044149247793,-1.601479241200864,1.3356036116135033,-1.3049221181446577,-1.5707961846783585,-0.44910808994747287],[-2.019904400622996,-1.60147910353974,1.3356033821287467,-1.3049218917814793,-1.570796198041244,-0.44910807550430776],[-2.0199043876667515,-1.6014789792885822,1.335603174893417,-1.3049216869925813,-1.5707962101483335,-0.44910806241717965],[-2.0199043759295665,-1.6014788671091793,1.335602987707412,-1.3049215017112878,-1.5707962211175364,-0.44910805055888653],[-2.0199043652968336,-1.6014787658025633,1.3356028185958693,-1.3049213340707881,-1.5707962310557062,-0.4491080398141397],[-2.019904355664702,-1.6014786742935285,1.3356026657847582,-1.3049211823844733,-1.5707962400596787,-0.4491080300784508],[-2.0199043469390747,-1.6014785916170358,1.3356025276793442,-1.30492104512826,-1.570796248217206,-0.4491080212571236],[-2.0199043390346945,-1.6014785169062504,1.3356024028451592,-1.3049209209247017,-1.5707962556078081,-0.44910801326433786],[-2.0199043318743106,-1.601478449381991,1.3356022899911353,-1.30492080852869,-1.5707962623035425,-0.44910800602231876],[-2.0199043253879334,-1.601478388343408,1.3356021879546538,-1.3049207068145892,-1.5707962683697025,-0.4491079994605866],[-2.0199043195121513,-1.601478333159735,1.3356020956882606,-1.3049206147646435,-1.5707962738654544,-0.4491079935152708],[-2.019904314189512,-1.601478283262969,1.3356020122478343,-1.3049205314585361,-1.5707962788444068,-0.4491079881284913],[-2.019904309367967,-1.6014782381413712,1.3356019367820542,-1.3049204560639744,-1.570796283355135,-0.4491079832478002],[-2.01990430500036,-1.6014781973336873,1.3356018685229976,-1.3049203878282034,-1.5707962874416523,-0.4491079788256712],[-2.01990430104397,-1.6014781604239954,1.3356018067777362,-1.3049203260703457,-1.5707962911438373,-0.44910797481903647],[-2.019904297460094,-1.6014781270371081,1.3356017509208256,-1.3049202701744913,-1.570796294497822,-0.44910797118887125],[-2.0199042942136693,-1.6014780968344728,1.3356017003875766,-1.3049202195834635,-1.5707962975363443,-0.4491079678998149],[-2.019904291272933,-1.6014780695104964,1.3356016546680287,-1.304920173793183,-1.5707963002890648,-0.4491079649198249],[-2.019904288609109,-1.601478044789261,1.335601613301538,-1.3049201323475845,-1.5707963027828578,-0.4491079622198687],[-2.019904286196129,-1.6014780224215794,1.335601575871928,-1.3049200948340234,-1.5707963050420706,-0.44910795977363843],[-2.019904284010378,-1.6014780021823543,1.3356015420031218,-1.30492006087912,-1.5707963070887638,-0.44910795755729693],[-2.019904282030464,-1.6014779838682056,1.3356015113552275,-1.3049200301450166,-1.5707963089429229,-0.4491079555492464],[-2.0199042802370064,-1.6014779672953419,1.3356014836210026,-1.3049200023259786,-1.5707963106226548,-0.4491079537299163],[-2.0199042786124504,-1.6014779522976437,1.3356014585226883,-1.3049199771453401,-1.5707963121443647,-0.4491079520815744],[-2.019904277140893,-1.6014779387249454,1.3356014358091395,-1.3049199543527201,-1.5707963135229153,-0.4491079505881551],[-2.019904275807927,-1.6014779264414782,1.3356014152532563,-1.304919933721532,-1.5707963147717718,-0.44910794923510006],[-2.0199042746005036,-1.6014779153244803,1.3356013966496598,-1.304919915046709,-1.5707963159031328,-0.44910794800921966],[-2.0199042735068002,-1.6014779052629338,1.3356013798125954,-1.3049198981426595,-1.570796316928051,-0.4491079468985638],[-2.019904272516108,-1.6014778961564333,1.3356013645740445,-1.3049198828414124,-1.5707963178565385,-0.44910794589230324],[-2.0199042716187265,-1.6014778879141613,1.335601350782018,-1.3049198689909407,-1.5707963186976663,-0.44910794498062834],[-2.019904270805869,-1.6014778804539682,1.3356013382990226,-1.30491985645365,-1.5707963194596528,-0.44910794415464955],[-2.019904270069575,-1.601477873701537,1.3356013270006675,-1.3049198451050021,-1.570796320149943,-0.44910794340631316],[-2.0199042694026343,-1.6014778675896335,1.3356013167744083,-1.3049198348322766,-1.5707963207752818,-0.44910794272832205],[-2.019904268798516,-1.6014778620574266,1.335601307518415,-1.3049198255334467,-1.570796321341779,-0.44910794211406463],[-2.0199042682513015,-1.6014778570498747,1.335601299140549,-1.304919817116167,-1.5707963218549714,-0.44910794155755107],[-2.0199042677556336,-1.6014778525171756,1.3356012915574367,-1.30491980949685,-1.5707963223198735,-0.44910794105335344],[-2.019904267306656,-1.601477848414262,1.335601284693632,-1.3049198025998374,-1.5707963227410289,-0.4491079405965544],[-2.019904266899972,-1.6014778447003493,1.3356012784808584,-1.3049197963566457,-1.570796323122553,-0.4491079401827],[-2.019904266531597,-1.6014778413385338,1.3356012728573348,-1.3049197907052887,-1.570796323468175,-0.449107939807752],[-2.0199042661979245,-1.6014778382954122,1.3356012677671414,-1.304919785589656,-1.5707963237812732,-0.4491079394680546],[-2.0199042658956845,-1.6014778355407586,1.3356012631596774,-1.3049197809589592,-1.5707963240649068,-0.4491079391602934],[-2.019904265621917,-1.6014778330472137,1.335601258989143,-1.3049197767672258,-1.570796324321849,-0.449107938881468],[-2.0199042653739396,-1.6014778307900177,1.33560125521409,-1.3049197729728415,-1.5707963245546108,-0.449107938628856],[-2.0199042651493233,-1.6014778287467586,1.3356012517970026,-1.3049197695381385,-1.570796324765468,-0.44910793839999474],[-2.0199042649458674,-1.6014778268971537,1.3356012487039277,-1.3049197664290202,-1.5707963249564818,-0.449107938192651],[-2.019904264761579,-1.601477825222843,1.3356012459041327,-1.3049197636146213,-1.5707963251295183,-0.449107938004802],[-2.0199042645946523,-1.60147782370721,1.3356012433698061,-1.3049197610670056,-1.5707963252862702,-0.44910793783461533],[-2.0199042644434524,-1.6014778223352106,1.3356012410757683,-1.3049197587608823,-1.57079632542827,-0.4491079376804311],[-2.0199042643064966,-1.6014778210932328,1.3356012389992353,-1.3049197566733604,-1.5707963255569053,-0.449107937540743],[-2.0199042641824443,-1.601477819968951,1.33560123711958,-1.3049197547837177,-1.5707963256734339,-0.4491079374141901],[-2.019904264070079,-1.60147781895121,1.3356012354181341,-1.304919753073197,-1.5707963257789954,-0.4491079372995374],[-2.0199042639683005,-1.6014778180299125,1.3356012338779988,-1.3049197515248188,-1.5707963258746214,-0.4491079371956645],[-2.019904263876111,-1.601477817195919,1.3356012324838809,-1.3049197501232135,-1.5707963259612474,-0.44910793710155933],[-2.0199042637926077,-1.601477816440954,1.3356012312219325,-1.304919748854468,-1.5707963260397197,-0.44910793701630314],[-2.0199042637169713,-1.6014778157575296,1.3356012300796245,-1.3049197477059888,-1.5707963261108067,-0.44910793693906403],[-2.019904263648462,-1.6014778151388656,1.3356012290456138,-1.3049197466663773,-1.570796326175202,-0.44910793686908823],[-2.0199042635864073,-1.6014778145788253,1.3356012281096312,-1.3049197457253112,-1.570796326233537,-0.44910793680569244],[-2.0199042635302,-1.6014778140718529,1.3356012272623832,-1.3049197448734509,-1.5707963262863809,-0.44910793674825866],[-2.0199042634792876,-1.6014778136129197,1.3356012264954569,-1.3049197441023401,-1.5707963263342508,-0.4491079366962253],[-2.019904263433173,-1.601477813197474,1.3356012258012375,-1.3049197434043247,-1.570796326377615,-0.4491079366490854],[-2.0199042633914037,-1.6014778128213945,1.3356012251728324,-1.3049197427724761,-1.5707963264168971,-0.44910793660637893],[-2.0199042633535695,-1.6014778124809508,1.335601224604001,-1.3049197422005214,-1.570796326452482,-0.44910793656768855],[-2.0199042633193,-1.601477812172767,1.3356012240890969,-1.3049197416827851,-1.5707963264847171,-0.4491079365326366],[-2.0199042632882613,-1.601477811893786,1.3356012236230064,-1.3049197412141254,-1.5707963265139178,-0.4491079365008816],[-2.019904263260146,-1.6014778116412398,1.3356012232011027,-1.3049197407898925,-1.5707963265403702,-0.44910793647211245],[-2.01990426323468,-1.6014778114126242,1.3356012228191965,-1.3049197404058743,-1.5707963265643319,-0.4491079364460491],[-2.019904263211614,-1.6014778112056718,1.3356012224734954,-1.3049197400582586,-1.5707963265860385,-0.449107936422437],[-2.0199042631907216,-1.6014778110183288,1.3356012221605666,-1.3049197397435943,-1.5707963266057017,-0.4491079364010463],[-2.0199042631717976,-1.6014778108487384,1.3356012218773052,-1.304919739458759,-1.5707963266235134,-0.44910793638166685],[-2.019904263154657,-1.601477810695219,1.3356012216208988,-1.3049197392009249,-1.5707963266396487,-0.4491079363641101],[-2.0199042631391313,-1.6014778105562455,1.3356012213887976,-1.3049197389675313,-1.5707963266542655,-0.44910793634820434],[-2.019904263125069,-1.6014778104304415,1.3356012211787023,-1.3049197387562632,-1.5707963266675056,-0.4491079363337948],[-2.019904263112332,-1.6014778103165588,1.3356012209885242,-1.304919738565022,-1.5707963266794998,-0.4491079363207404],[-2.0199042631007953,-1.6014778102134666,1.3356012208163748,-1.30491973839191,-1.5707963266903644,-0.4491079363089148],[-2.0199042630903454,-1.6014778101201437,1.3356012206605459,-1.3049197382352078,-1.5707963267002063,-0.4491079362982007],[-2.019904263080881,-1.6014778100356644,1.3356012205194905,-1.304919738093361,-1.570796326709122,-0.4491079362884943],[-2.019904263072308,-1.6014778099591902,1.3356012203918075,-1.3049197379649604,-1.570796326717198,-0.4491079362797013],[-2.019904263064543,-1.6014778098899627,1.3356012202762293,-1.3049197378487323,-1.5707963267245135,-0.4491079362717356],[-2.0199042630575095,-1.601477809827295,1.3356012201716085,-1.304919737743522,-1.5707963267311407,-0.44910793626451906],[-2.019904263051139,-1.6014778097705664,1.3356012200769063,-1.304919737648286,-1.5707963267371436,-0.4491079362579813],[-2.0199042630453694,-1.6014778097192133,1.3356012199911818,-1.3049197375620776,-1.5707963267425815,-0.4491079362520579],[-2.019904263040143,-1.6014778096727262,1.3356012199135843,-1.304919737484041,-1.5707963267475076,-0.4491079362466923],[-2.0199042630354094,-1.6014778096306443,1.3356012198433433,-1.3049197374134032,-1.5707963267519698,-0.44910793624183126],[-2.0199042630311217,-1.6014778095925506,1.3356012197797622,-1.304919737349462,-1.5707963267560119,-0.4491079362374272],[-2.019904263027238,-1.601477809558067,1.3356012197222087,-1.304919737291582,-1.5707963267596732,-0.44910793623343814],[-2.0199042630237205,-1.6014778095268505,1.335601219670111,-1.3049197372391887,-1.5707963267629899,-0.4491079362298238],[-2.0199042630205346,-1.6014778094985924,1.3356012196229534,-1.3049197371917631,-1.5707963267659946,-0.44910793622654954],[-2.0199042630176494,-1.6014778094730122,1.3356012195802658,-1.3049197371488328,-1.5707963267687157,-0.4491079362235837],[-2.0199042630150355,-1.6014778094498567,1.3356012195416263,-1.3049197371099726,-1.5707963267711813,-0.4491079362208964],[-2.0199042630126685,-1.6014778094288953,1.3356012195066496,-1.3049197370747965,-1.5707963267734144,-0.4491079362184623],[-2.0199042630105235,-1.60147780940992,1.3356012194749882,-1.3049197370429546,-1.5707963267754377,-0.4491079362162568],[-2.019904263008582,-1.6014778093927426,1.3356012194463287,-1.3049197370141314,-1.5707963267772698,-0.4491079362142586],[-2.0199042630068225,-1.6014778093771942,1.3356012194203881,-1.304919736988042,-1.5707963267789298,-0.4491079362124491],[-2.019904263005229,-1.6014778093631181,1.3356012193969047,-1.3049197369644245,-1.5707963267804335,-0.4491079362108098],[-2.0199042630037862,-1.6014778093503772,1.335601219375649,-1.3049197369430467,-1.5707963267817953,-0.4491079362093245],[-2.019904263002479,-1.6014778093388429,1.3356012193564089,-1.3049197369236958,-1.5707963267830294,-0.4491079362079785],[-2.019904263001295,-1.6014778093284017,1.3356012193389915,-1.304919736906179,-1.5707963267841467,-0.44910793620675965],[-2.019904263000223,-1.6014778093189503,1.3356012193232263,-1.3049197368903227,-1.570796326785159,-0.4491079362056553],[-2.0199042629992516,-1.6014778093103943,1.3356012193089548,-1.3049197368759693,-1.570796326786076,-0.449107936204655],[-2.019904262998372,-1.6014778093026492,1.3356012192960371,-1.304919736862977,-1.570796326786907,-0.44910793620374845],[-2.019904262997575,-1.6014778092956383,1.3356012192843443,-1.3049197368512166,-1.5707963267876592,-0.4491079362029279],[-2.019904262996854,-1.6014778092892925,1.3356012192737612,-1.3049197368405718,-1.5707963267883407,-0.44910793620218376],[-2.0199042629962,-1.6014778092835467,1.3356012192641786,-1.3049197368309349,-1.5707963267889582,-0.44910793620151007],[-2.019904262995608,-1.6014778092783462,1.3356012192555067,-1.3049197368222123,-1.5707963267895175,-0.44910793620089956],[-2.019904262995072,-1.6014778092736384,1.3356012192476565,-1.3049197368143168,-1.5707963267900242,-0.44910793620034656],[-2.019904262994586,-1.6014778092693762,1.33560121924055,-1.3049197368071694,-1.570796326790483,-0.44910793619984607],[-2.019904262994146,-1.6014778092655193,1.335601219234118,-1.3049197368006997,-1.5707963267908986,-0.4491079361993918],[-2.019904262993748,-1.6014778092620268,1.3356012192282956,-1.3049197367948437,-1.5707963267912752,-0.4491079361989812],[-2.0199042629933865,-1.601477809258866,1.3356012192230253,-1.3049197367895429,-1.5707963267916163,-0.44910793619860867],[-2.01990426299306,-1.6014778092560045,1.335601219218255,-1.3049197367847443,-1.5707963267919252,-0.449107936198271],[-2.019904262992764,-1.6014778092534143,1.3356012192139368,-1.3049197367804013,-1.5707963267922052,-0.44910793619796596],[-2.0199042629924957,-1.6014778092510693,1.3356012192100277,-1.3049197367764696,-1.5707963267924587,-0.44910793619768874],[-2.019904262992253,-1.6014778092489468,1.335601219206489,-1.3049197367729097,-1.5707963267926885,-0.44910793619743733],[-2.0199042629920334,-1.601477809247025,1.335601219203286,-1.3049197367696885,-1.5707963267928964,-0.44910793619721123],[-2.019904262991834,-1.6014778092452862,1.3356012192003874,-1.3049197367667726,-1.570796326793085,-0.449107936197005],[-2.0199042629916537,-1.6014778092437114,1.3356012191977624,-1.3049197367641325,-1.5707963267932554,-0.44910793619681866],[-2.0199042629914903,-1.6014778092422863,1.3356012191953872,-1.3049197367617433,-1.57079632679341,-0.4491079361966497],[-2.019904262991342,-1.6014778092409965,1.3356012191932374,-1.3049197367595804,-1.57079632679355,-0.4491079361964965],[-2.0199042629912083,-1.6014778092398285,1.3356012191912907,-1.3049197367576224,-1.570796326793677,-0.4491079361963581],[-2.0199042629910866,-1.601477809238771,1.3356012191895295,-1.3049197367558514,-1.5707963267937917,-0.4491079361962329],[-2.0199042629909765,-1.6014778092378141,1.3356012191879345,-1.3049197367542469,-1.570796326793896,-0.44910793619611883],[-2.019904262990877,-1.6014778092369477,1.3356012191864908,-1.3049197367527945,-1.5707963267939902,-0.4491079361960153],[-2.0199042629907864,-1.6014778092361632,1.3356012191851832,-1.3049197367514798,-1.5707963267940754,-0.44910793619592204],[-2.019904262990705,-1.6014778092354538,1.3356012191840012,-1.30491973675029,-1.5707963267941527,-0.449107936195838],[-2.019904262990631,-1.6014778092348114,1.3356012191829307,-1.3049197367492136,-1.5707963267942227,-0.44910793619576106],[-2.019904262990564,-1.6014778092342297,1.3356012191819615,-1.3049197367482384,-1.5707963267942864,-0.4491079361956916],[-2.0199042629905035,-1.6014778092337034,1.3356012191810849,-1.3049197367473566,-1.5707963267943439,-0.44910793619562905],[-2.0199042629904485,-1.6014778092332265,1.3356012191802904,-1.3049197367465573,-1.5707963267943956,-0.4491079361955719],[-2.0199042629903983,-1.6014778092327953,1.3356012191795714,-1.3049197367458343,-1.5707963267944431,-0.44910793619552014],[-2.0199042629903534,-1.6014778092324047,1.3356012191789208,-1.3049197367451797,-1.5707963267944858,-0.4491079361954737],[-2.0199042629903126,-1.601477809232051,1.3356012191783322,-1.3049197367445877,-1.5707963267945246,-0.4491079361954314],[-2.0199042629902757,-1.6014778092317308,1.3356012191777988,-1.3049197367440513,-1.5707963267945597,-0.44910793619539313],[-2.019904262990242,-1.6014778092314412,1.3356012191773168,-1.304919736743566,-1.570796326794591,-0.44910793619535794],[-2.0199042629902118,-1.6014778092311788,1.3356012191768796,-1.3049197367431262,-1.57079632679462,-0.44910793619532646],[-2.019904262990184,-1.6014778092309414,1.3356012191764843,-1.304919736742729,-1.570796326794646,-0.4491079361952985],[-2.019904262990159,-1.601477809230727,1.3356012191761266,-1.304919736742369,-1.5707963267946699,-0.4491079361952721],[-2.0199042629901367,-1.6014778092305324,1.3356012191758022,-1.3049197367420426,-1.570796326794691,-0.44910793619524864],[-2.0199042629901163,-1.6014778092303563,1.3356012191755096,-1.3049197367417478,-1.5707963267947103,-0.44910793619522776],[-2.019904262990098,-1.6014778092301971,1.3356012191752438,-1.3049197367414809,-1.570796326794728,-0.4491079361952085],[-2.019904262990081,-1.6014778092300526,1.3356012191750035,-1.304919736741239,-1.570796326794744,-0.44910793619519107],[-2.019904262990066,-1.6014778092299218,1.3356012191747855,-1.3049197367410201,-1.5707963267947584,-0.4491079361951757],[-2.019904262990052,-1.6014778092298039,1.3356012191745894,-1.304919736740823,-1.570796326794771,-0.44910793619516143],[-2.01990426299004,-1.6014778092296966,1.335601219174411,-1.304919736740643,-1.570796326794783,-0.44910793619514844],[-2.019904262990029,-1.6014778092295998,1.3356012191742492,-1.3049197367404803,-1.5707963267947938,-0.44910793619513645],[-2.0199042629900186,-1.6014778092295119,1.3356012191741036,-1.3049197367403342,-1.5707963267948035,-0.44910793619512596],[-2.0199042629900092,-1.6014778092294326,1.3356012191739717,-1.3049197367402012,-1.5707963267948124,-0.4491079361951166],[-2.0199042629900004,-1.6014778092293613,1.3356012191738527,-1.3049197367400809,-1.5707963267948202,-0.44910793619510764],[-2.019904262989993,-1.601477809229296,1.3356012191737439,-1.3049197367399719,-1.5707963267948273,-0.44910793619509953],[-2.019904262989986,-1.6014778092292365,1.3356012191736457,-1.3049197367398735,-1.570796326794834,-0.44910793619509276],[-2.01990426298998,-1.601477809229184,1.3356012191735576,-1.3049197367397842,-1.57079632679484,-0.449107936195086],[-2.019904262989974,-1.6014778092291353,1.3356012191734765,-1.3049197367397032,-1.570796326794845,-0.4491079361950804],[-2.0199042629899693,-1.6014778092290913,1.3356012191734028,-1.3049197367396292,-1.5707963267948502,-0.4491079361950746],[-2.0199042629899644,-1.6014778092290525,1.3356012191733384,-1.3049197367395642,-1.5707963267948546,-0.44910793619507017],[-2.0199042629899604,-1.6014778092290165,1.3356012191732787,-1.3049197367395038,-1.5707963267948581,-0.4491079361950657],[-2.019904262989957,-1.6014778092289845,1.3356012191732245,-1.3049197367394494,-1.5707963267948621,-0.44910793619506145],[-2.0199042629899533,-1.6014778092289552,1.3356012191731768,-1.3049197367394012,-1.5707963267948652,-0.4491079361950583],[-2.0199042629899497,-1.6014778092289281,1.335601219173132,-1.3049197367393561,-1.5707963267948684,-0.44910793619505474],[-2.0199042629899475,-1.601477809228904,1.3356012191730915,-1.3049197367393157,-1.5707963267948708,-0.4491079361950524],[-2.0199042629899444,-1.6014778092288824,1.3356012191730555,-1.3049197367392797,-1.5707963267948732,-0.4491079361950494],[-2.0199042629899426,-1.6014778092288628,1.3356012191730224,-1.3049197367392462,-1.5707963267948755,-0.4491079361950475],[-2.0199042629899404,-1.6014778092288449,1.3356012191729927,-1.304919736739216,-1.5707963267948775,-0.449107936195045],[-2.019904262989938,-1.601477809228829,1.335601219172967,-1.3049197367391898,-1.570796326794879,-0.44910793619504275],[-2.019904262989937,-1.6014778092288138,1.3356012191729416,-1.304919736739165,-1.570796326794881,-0.4491079361950414],[-2.0199042629899355,-1.6014778092288011,1.3356012191729207,-1.3049197367391439,-1.5707963267948826,-0.44910793619503947],[-2.0199042629899333,-1.601477809228789,1.3356012191728999,-1.304919736739123,-1.5707963267948837,-0.449107936195038],[-2.019904262989933,-1.6014778092287787,1.3356012191728823,-1.3049197367391048,-1.5707963267948852,-0.4491079361950366],[-2.019904262989931,-1.6014778092287685,1.3356012191728657,-1.3049197367390886,-1.570796326794886,-0.4491079361950354],[-2.01990426298993,-1.6014778092287594,1.335601219172851,-1.3049197367390737,-1.5707963267948872,-0.4491079361950343],[-2.0199042629899293,-1.6014778092287516,1.3356012191728377,-1.3049197367390601,-1.570796326794888,-0.4491079361950333],[-2.0199042629899284,-1.601477809228744,1.3356012191728257,-1.304919736739048,-1.5707963267948888,-0.4491079361950321],[-2.0199042629899275,-1.6014778092287376,1.3356012191728142,-1.3049197367390368,-1.5707963267948895,-0.44910793619503164],[-2.019904262989927,-1.6014778092287318,1.3356012191728046,-1.3049197367390268,-1.5707963267948901,-0.4491079361950315],[-2.019904262989926,-1.601477809228726,1.3356012191727957,-1.3049197367390186,-1.570796326794891,-0.4491079361950306],[-2.0199042629899258,-1.6014778092287216,1.335601219172788,-1.30491973673901,-1.5707963267948912,-0.44910793619502987],[-2.019904262989925,-1.6014778092287167,1.3356012191727797,-1.3049197367390024,-1.570796326794892,-0.44910793619502914],[-2.019904262989925,-1.601477809228713,1.3356012191727729,-1.304919736738995,-1.5707963267948923,-0.4491079361950286],[-2.019904262989924,-1.6014778092287094,1.3356012191727675,-1.30491973673899,-1.5707963267948928,-0.44910793619502826],[-2.0199042629899235,-1.6014778092287059,1.3356012191727615,-1.304919736738984,-1.5707963267948932,-0.44910793619502803],[-2.0199042629899235,-1.6014778092287028,1.3356012191727564,-1.3049197367389787,-1.5707963267948934,-0.44910793619502726],[-2.019904262989923,-1.6014778092287003,1.3356012191727527,-1.3049197367389747,-1.570796326794894,-0.44910793619502687],[-2.0199042629899226,-1.6014778092286979,1.3356012191727482,-1.3049197367389704,-1.5707963267948943,-0.4491079361950265],[-2.0199042629899226,-1.601477809228696,1.335601219172745,-1.3049197367389669,-1.5707963267948941,-0.44910793619502654],[-2.019904262989922,-1.6014778092286936,1.3356012191727418,-1.304919736738964,-1.5707963267948946,-0.4491079361950264],[-2.0199042629899226,-1.6014778092286923,1.3356012191727393,-1.3049197367389611,-1.5707963267948946,-0.44910793619502604],[-2.0199042629899218,-1.6014778092286905,1.3356012191727364,-1.304919736738958,-1.570796326794895,-0.4491079361950261],[-2.0199042629899218,-1.6014778092286892,1.3356012191727336,-1.3049197367389553,-1.570796326794895,-0.4491079361950255],[-2.0199042629899218,-1.6014778092286879,1.3356012191727316,-1.3049197367389533,-1.570796326794895,-0.44910793619502576],[-2.0199042629899218,-1.601477809228686,1.335601219172729,-1.304919736738951,-1.5707963267948954,-0.44910793619502587],[-2.0199042629899213,-1.6014778092286854,1.335601219172727,-1.3049197367389491,-1.5707963267948957,-0.44910793619502537],[-2.0199042629899213,-1.601477809228685,1.335601219172727,-1.304919736738948,-1.5707963267948952,-0.449107936195025],[-2.0199042629899213,-1.601477809228683,1.3356012191727238,-1.3049197367389458,-1.570796326794896,-0.4491079361950253],[-2.0199042629899213,-1.6014778092286828,1.335601219172723,-1.3049197367389445,-1.5707963267948954,-0.44910793619502465],[-2.019904262989921,-1.6014778092286819,1.3356012191727222,-1.3049197367389442,-1.5707963267948957,-0.44910793619502476],[-2.019904262989921,-1.6014778092286814,1.3356012191727207,-1.3049197367389422,-1.570796326794896,-0.44910793619502515],[-2.019904262989921,-1.6014778092286805,1.335601219172719,-1.3049197367389407,-1.5707963267948963,-0.4491079361950248],[-2.019904262989921,-1.6014778092286799,1.3356012191727187,-1.3049197367389411,-1.570796326794896,-0.44910793619502454],[-2.019904262989921,-1.6014778092286797,1.3356012191727176,-1.304919736738939,-1.5707963267948961,-0.44910793619502465],[-2.0199042629899204,-1.6014778092286792,1.3356012191727171,-1.3049197367389387,-1.5707963267948961,-0.4491079361950245],[-2.0199042629899204,-1.6014778092286786,1.335601219172716,-1.304919736738938,-1.5707963267948963,-0.44910793619502426],[-2.019904262989921,-1.6014778092286779,1.335601219172715,-1.3049197367389371,-1.570796326794896,-0.44910793619502415],[-2.0199042629899204,-1.601477809228678,1.3356012191727153,-1.3049197367389371,-1.5707963267948963,-0.4491079361950242],[-2.0199042629899204,-1.6014778092286779,1.3356012191727151,-1.3049197367389367,-1.5707963267948963,-0.4491079361950244],[-2.0199042629899204,-1.6014778092286774,1.3356012191727147,-1.3049197367389365,-1.5707963267948961,-0.4491079361950243],[-2.0199042629899204,-1.6014778092286777,1.3356012191727142,-1.3049197367389356,-1.5707963267948963,-0.4491079361950242],[-2.0199042629899204,-1.6014778092286766,1.335601219172713,-1.3049197367389354,-1.5707963267948966,-0.4491079361950243],[-2.0199042629899204,-1.601477809228677,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.44910793619502415],[-2.0199042629899204,-1.6014778092286768,1.335601219172713,-1.3049197367389345,-1.5707963267948966,-0.44910793619502415],[-2.0199042629899204,-1.6014778092286763,1.3356012191727133,-1.3049197367389351,-1.5707963267948963,-0.4491079361950242],[-2.01990426298992,-1.601477809228676,1.3356012191727122,-1.3049197367389345,-1.5707963267948966,-0.44910793619502404],[-2.01990426298992,-1.601477809228676,1.335601219172712,-1.3049197367389338,-1.5707963267948966,-0.4491079361950237],[-2.0199042629899204,-1.601477809228676,1.3356012191727127,-1.3049197367389345,-1.5707963267948963,-0.4491079361950244],[-2.0199042629899204,-1.6014778092286759,1.335601219172712,-1.304919736738934,-1.5707963267948963,-0.449107936195024],[-2.0199042629899204,-1.6014778092286752,1.3356012191727111,-1.3049197367389334,-1.5707963267948963,-0.4491079361950229],[-2.01990426298992,-1.6014778092286754,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.44910793619502365],[-2.01990426298992,-1.6014778092286754,1.3356012191727116,-1.304919736738933,-1.5707963267948968,-0.449107936195024],[-2.01990426298992,-1.6014778092286757,1.3356012191727111,-1.3049197367389327,-1.5707963267948966,-0.4491079361950243],[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950233],[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389327,-1.5707963267948968,-0.44910793619502387],[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389325,-1.5707963267948963,-0.44910793619502426],[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.44910793619502376],[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.449107936195024],[-2.0199042629899204,-1.6014778092286757,1.3356012191727114,-1.3049197367389325,-1.5707963267948966,-0.4491079361950236],[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.44910793619502365],[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950232],[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950236],[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.4491079361950243],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],[-2.01990426298992,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502437],[-2.0199042629899204,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502326],[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950239],[-2.0199042629899204,-1.6014778092286752,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.4491079361950232],[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950235],[-2.01990426298992,-1.6014778092286743,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950231],[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389322,-1.5707963267948966,-0.449107936195023],[-2.01990426298992,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502287],[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.4491079361950231],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948968,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950231],[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389325,-1.5707963267948966,-0.44910793619502287],[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389314,-1.5707963267948966,-0.4491079361950228],[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950229],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950236],[-2.0199042629899204,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389311,-1.5707963267948968,-0.44910793619502315],[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.4491079361950228],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502326],[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948963,-0.4491079361950229],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.4491079361950232],[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.3049197367389322,-1.5707963267948966,-0.44910793619502354],[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950238],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948963,-0.44910793619502326],[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.4491079361950234],[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950226],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389322,-1.5707963267948968,-0.44910793619502365],[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],[-2.01990426298992,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.4491079361950242],[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950241],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950229],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.44910793619502387],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.44910793619502315],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950237],[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389316,-1.5707963267948966,-0.44910793619502365],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389314,-1.5707963267948968,-0.44910793619502354],[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502315],[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.5707963267948963,-0.449107936195023],[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.44910793619502304],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.44910793619502287],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950234],[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950231],[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389316,-1.5707963267948968,-0.44910793619502326],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389322,-1.5707963267948966,-0.44910793619502265],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948963,-0.44910793619502365],[-2.0199042629899204,-1.601477809228675,1.3356012191727098,-1.3049197367389314,-1.5707963267948968,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389322,-1.5707963267948968,-0.44910793619502276],[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948968,-0.4491079361950231],[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.4491079361950236],[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948968,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389316,-1.5707963267948966,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286743,1.3356012191727091,-1.304919736738931,-1.5707963267948963,-0.4491079361950234],[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.44910793619502287],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.44910793619502315],[-2.01990426298992,-1.6014778092286748,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.4491079361950227],[-2.01990426298992,-1.6014778092286746,1.3356012191727098,-1.304919736738932,-1.5707963267948966,-0.44910793619502404],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948963,-0.44910793619502315],[-2.01990426298992,-1.601477809228675,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950236],[-2.0199042629899204,-1.6014778092286752,1.3356012191727107,-1.3049197367389318,-1.5707963267948966,-0.4491079361950241],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950231],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950234],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948968,-0.44910793619502387],[-2.01990426298992,-1.601477809228675,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.449107936195023],[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502326],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286748,1.3356012191727107,-1.3049197367389325,-1.5707963267948968,-0.44910793619502276],[-2.01990426298992,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948968,-0.449107936195024],[-2.0199042629899204,-1.6014778092286752,1.3356012191727105,-1.3049197367389322,-1.5707963267948963,-0.44910793619502326],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950227],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.4491079361950241],[-2.0199042629899204,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.570796326794897,-0.44910793619502376],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950232],[-2.01990426298992,-1.6014778092286746,1.3356012191727102,-1.3049197367389322,-1.570796326794897,-0.4491079361950243],[-2.01990426298992,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286743,1.3356012191727098,-1.3049197367389318,-1.5707963267948963,-0.4491079361950228],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950228],[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.44910793619502287],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948966,-0.4491079361950233],[-2.01990426298992,-1.601477809228675,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.6014778092286752,1.335601219172711,-1.3049197367389325,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.44910793619502365],[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389318,-1.5707963267948968,-0.4491079361950229],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502304],[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502287],[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948966,-0.4491079361950231],[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948966,-0.44910793619502376],[-2.0199042629899204,-1.601477809228675,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.4491079361950229],[-2.0199042629899204,-1.601477809228675,1.3356012191727107,-1.3049197367389327,-1.5707963267948968,-0.4491079361950228],[-2.0199042629899204,-1.6014778092286748,1.33560121917271,-1.304919736738932,-1.5707963267948968,-0.4491079361950228],[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.304919736738932,-1.5707963267948968,-0.4491079361950233],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502304],[-2.01990426298992,-1.6014778092286748,1.3356012191727105,-1.3049197367389325,-1.5707963267948968,-0.4491079361950229],[-2.01990426298992,-1.6014778092286748,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.4491079361950232],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389316,-1.5707963267948968,-0.44910793619502337],[-2.0199042629899204,-1.601477809228675,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.449107936195024],[-2.0199042629899204,-1.6014778092286746,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.304919736738932,-1.5707963267948966,-0.44910793619502326],[-2.01990426298992,-1.6014778092286752,1.3356012191727111,-1.3049197367389325,-1.5707963267948968,-0.4491079361950238],[-2.0199042629899204,-1.601477809228675,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.44910793619502315],[-2.0199042629899204,-1.6014778092286748,1.3356012191727094,-1.3049197367389314,-1.5707963267948966,-0.44910793619502304],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948966,-0.44910793619502315],[-2.01990426298992,-1.6014778092286746,1.33560121917271,-1.3049197367389325,-1.5707963267948966,-0.44910793619502415],[-2.0199042629899204,-1.601477809228675,1.3356012191727096,-1.3049197367389316,-1.5707963267948966,-0.44910793619502337],[-2.0199042629899204,-1.6014778092286748,1.3356012191727098,-1.3049197367389314,-1.5707963267948966,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286757,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950241],[-2.0199042629899204,-1.6014778092286754,1.3356012191727107,-1.3049197367389322,-1.5707963267948968,-0.4491079361950241],[-2.0199042629899204,-1.6014778092286748,1.3356012191727105,-1.3049197367389322,-1.5707963267948968,-0.4491079361950233],[-2.01990426298992,-1.6014778092286748,1.33560121917271,-1.3049197367389318,-1.5707963267948966,-0.4491079361950233],[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.4491079361950239],[-2.01990426298992,-1.6014778092286746,1.3356012191727094,-1.3049197367389316,-1.5707963267948966,-0.4491079361950229],[-2.0199042629899204,-1.6014778092286746,1.3356012191727098,-1.3049197367389318,-1.5707963267948968,-0.449107936195023],[-2.01990426298992,-1.6014778092286752,1.3356012191727107,-1.3049197367389322,-1.570796326794897,-0.4491079361950239],[-2.0199042629899204,-1.6014778092286752,1.3356012191727102,-1.3049197367389318,-1.5707963267948968,-0.44910793619502404],[-2.01990426298992,-1.601477809228675,1.3356012191727105,-1.3049197367389322,-1.5707963267948966,-0.4491079361950235],[-2.0199042629899204,-1.6014778092286754,1.3356012191727105,-1.304919736738932,-1.5707963267948968,-0.449107936195024],[-2.01990426298992,-1.6014778092286752,1.335601219172711,-1.3049197367389327,-1.5707963267948968,-0.44910793619502365],[-2.01990426298992,-1.601477809228675,1.3356012191727102,-1.3049197367389318,-1.5707963267948966,-0.449107936195023],[-2.01990426298992,-1.6014778092286748,1.3356012191727098,-1.3049197367389316,-1.5707963267948968,-0.4491079361950229],[-2.01990426298992,-1.6014778092286752,1.3356012191727105,-1.3049197367389318,-1.5707963267948966,-0.4491079361950237]],"metrics":{"valid":true,"success":true,"reason":"success","simulation_time":20.00000000000146,"steps":1000,"lift_seen":true,"grasp_seen":true,"max_object_lift_m":0.12963815000446655,"dwell_seconds":8.820000000000551,"lift_dwell_seconds":0.0,"max_pad_normal_force_n":50.08840292428384,"unexpected_contact_native_ticks":0,"carry_complete":true,"retention_lost":false,"max_carry_contact_loss_seconds":0.0,"carry_contact_loss_events":0,"carry_contact_loss_tolerance_seconds":0.04,"first_success_time_seconds":11.429999999999104,"target_distance_m":0.0005117477026848553,"warnings":[],"physical_robot_ready":false},"timing":{"setup_seconds":0.6671545000281185,"episode_wall_seconds":29.486636917106807,"control_step_seconds":{"count":1000,"median":0.013336937525309622,"p95":0.0781404587905854,"max":1.4792527500540018},"missed_control_boundaries":251,"control_boundaries":1000,"simulated_seconds_per_wall_second":0.6782733499322321,"scope":"Wall computation, not real-time sensor-to-actuator latency. Includes setup, policy/IK, native physics, contacts, observations and trace construction; excludes process startup, output I/O and rendering"},"contract":{"profile":"ur5e-2f85-rigid-block-task-v0.1","scope":"Authored native UR5e/Robotiq rigid-block manipulation, privileged state and synthetic commands. No shoe model, learned task policy, camera sensing, calibrated contact or physical qualification.","physical_robot_ready":false,"arm_joint_order":["shoulder_pan_joint","shoulder_lift_joint","elbow_joint","wrist_1_joint","wrist_2_joint","wrist_3_joint"],"gripper_linkage_order":["gripper/right_driver_joint","gripper/right_coupler_joint","gripper/right_spring_link_joint","gripper/right_follower_joint","gripper/left_driver_joint","gripper/left_coupler_joint","gripper/left_spring_link_joint","gripper/left_follower_joint"],"actions":{"joint_targets_rad":"six absolute joint targets, rad; ramped then gravity feedforward","gripper_0_255":"one native tendon servo target; 0 open / 255 close, not measured gap or force"},"observation_origin":"privileged_native_simulator_state","native_sensor_definitions":0,"observations":{"joint_position_rad":[6],"joint_velocity_rad_s":[6],"linkage_position_rad":[8],"tcp_position_m":[3],"tcp_quaternion_wxyz":[4],"object_position_m":[3],"object_quaternion_wxyz":[4],"grasp_contact_counts":"left/right native block contacts","pad_normal_forces_n":"native mj_contactForce, not deployable tactile sensing"},"contacts":"native collision proxies; object priority 1 overrides pad/table friction floors","object":"one free rigid box; no weld, grasp attachment or runtime object pose writes","success":"valid physics, retained bilateral table-free lift and supported destination carry completion, then released/settled destination dwell and tool retreat","carry_retention":{"bilateral_contact_required":"after sustained lift until supported at destination while held","contact_force_threshold_n":0.01,"consecutive_loss_tolerance_seconds":0.04,"loss_at_or_above_tolerance":"permanent failure, independent of teacher phase"},"fixed_base_collision_proxy":false},"implementation_sha256":{"reference_task.py":"bbc768ccc202b8dd41cbd235b206e6478806ce47c1f30ae15dc662c0c1edcc3e","reference_sim.py":"c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8","reference_assets.lock.json":"941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861"},"asset_provenance":{"commit":"0059d4335f8156206f63a35662313385f7ad6d74","files_verified":36,"bytes_verified":34193501,"lock_sha256":"941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861","licenses":{"universal_robots_ur5e":"BSD-3-Clause","robotiq_2f85":"BSD-2-Clause"}},"compiled_model_sha256":"78c8c852977cbfb41ef816ce489b3d9d5926ed10c41ba2e6b3b1f29a639f1e9b","initial_object_position_m":[-0.12546279446803538,0.477312447734353,0.2998922445174839],"target_position_m":[0.08125537448652495,0.47723572262194736,0.3],"id":"nominal-03--placement","scene_id":"nominal-03","attempt_wall_seconds":29.514792167115957}
